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'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 1, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/18 13:42:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/18 13:42:23 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 13:42:23 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 13:42:23 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 13:42:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/FloorPlan1_physics.xml [task_sampler.py: 797] +05/18 13:42:28 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 13:42:28 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 13:42:28 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 13:42:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:42:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:42:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:42:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:42:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147576m [env.py: 870] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:42:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 91.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -39.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=22.5ms, retries=260.3ms, total=282.8ms [env.py: 1105] +05/18 13:42:28 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:42:28 ERROR: [Worker 0] Worker 0 house 1 episode 0 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:42:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:42:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:42:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:42:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:42:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:42:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185935m [env.py: 870] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:42:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38404732 -1.07163865 -0.18593456] yaw=-76.5deg [env.py: 1019] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -134.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:42:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=236.4ms, total=236.5ms [env.py: 1075] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.384, -1.072, -0.186) [env.py: 1079] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.5 deg [env.py: 1082] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:42:30 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 13:43:08 INFO: [Worker 0] Warmed up parallel IK solver in 38.058s [base_object_manipulation_planner_policy.py: 377] +05/18 13:43:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:43:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:43:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.653s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:43:12 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.623[m] 67.878[deg] [grasp_sample.py: 596] +05/18 13:43:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:43:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:43:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:43:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:44:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:44:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:44:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:25 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:45:46 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/dresser/sim_chunks/chunk_059 [pipeline.py: 1174] +05/18 13:45:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_059 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:45:46 INFO: [Worker 0] Preparing episode data: 258 timesteps [save_utils.py: 278] +05/18 13:45:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:45:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_059 [save_utils.py: 785] +05/18 13:45:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_059 in 13.33s (batch: 3.80s, save: 9.53s) [pipeline.py: 300] +05/18 13:46:00 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=0.58s: + episode_total: mean=107.88s, total=215.76s, count=2, min=5757.8ms, max=210006.6ms + sensor_polling: mean=470.4ms, total=120.90s, count=257, min=437.3ms, max=578.2ms + save_trajectories: mean=9.53s, total=9.53s, count=1, min=9529.8ms, max=9529.8ms + physics_step: mean=32.4ms, total=8.32s, count=257, min=24.9ms, max=49.6ms + task_sampling_failed: mean=5.76s, total=5.76s, count=1, min=5757.8ms, max=5757.8ms + scene_load: mean=5.46s, total=5.46s, count=1, min=5461.1ms, max=5461.1ms + save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3798.3ms, max=3798.3ms + scene_env_create: mean=3.58s, total=3.58s, count=1, min=3579.3ms, max=3579.3ms + scene_compile: mean=1.69s, total=1.69s, count=1, min=1694.2ms, max=1694.2ms + compile_mujoco: mean=1.32s, total=1.32s, count=1, min=1319.8ms, max=1319.8ms + task_specific_sample: mean=433.2ms, total=866.4ms, count=2, min=290.2ms, max=576.2ms + task_sampling: mean=579.2ms, total=579.2ms, count=1, min=579.2ms, max=579.2ms + compile_xml_load: mean=282.8ms, total=282.8ms, count=1, min=282.8ms, max=282.8ms + scene_init: mean=125.3ms, total=125.3ms, count=1, min=125.3ms, max=125.3ms + compile_aux_objects: mean=66.1ms, total=66.1ms, count=1, min=66.1ms, max=66.1ms + compile_aux_policy_objects: mean=66.1ms, total=66.1ms, count=1, min=66.1ms, max=66.1ms + scene_asset_install: mean=62.0ms, total=62.0ms, count=1, min=62.0ms, max=62.0ms + asset_install_grasps: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms + asset_install_objects: mean=14.1ms, total=14.1ms, count=1, min=14.1ms, max=14.1ms + compile_robot_add: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.6ms, max=2.5ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=677.1us, total=1.4ms, count=2, min=0.7ms, max=0.7ms + policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:46:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:46:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180119m [env.py: 870] +05/18 13:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.6548595 -0.75848122 -0.18011866] yaw=-98.5deg [env.py: 1019] +05/18 13:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54304685 -0.73450511 -0.18011866] yaw=-57.8deg [env.py: 1019] +05/18 13:46:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.85387307 -0.88038713 -0.18011866] yaw=-108.5deg [env.py: 1019] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=138.9ms, total=138.9ms [env.py: 1075] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.655, -0.758, -0.180) [env.py: 1079] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.5 deg [env.py: 1082] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.016m [env.py: 1086] +05/18 13:46:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:02 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:46:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.166s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.215s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:07 INFO: [Worker 0] Feasible grasp found 454 (originally 147): w/ 0.718[m] 105.494[deg] [grasp_sample.py: 596] +05/18 13:46:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:46:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:46:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:46:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:47:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:47:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:47:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:47:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.686s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:38 INFO: [Worker 0] Feasible grasp found 599 (originally 292): w/ 0.281[m] 33.434[deg] [grasp_sample.py: 596] +05/18 13:47:40 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:47:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:47:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:47:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:47:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:47:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:47:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:47:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161492m [env.py: 870] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:47:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.78674283 -0.91433843 -0.1614922 ] yaw=-76.3deg [env.py: 1019] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.0211349 -1.29740845 -0.1614922 ] yaw=-1.3deg [env.py: 1019] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -42.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:47:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=285.8ms, total=285.9ms [env.py: 1075] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.787, -0.914, -0.161) [env.py: 1079] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.3 deg [env.py: 1082] +05/18 13:47:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m [env.py: 1086] +05/18 13:47:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:47:42 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 13:47:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/18 13:47:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:47:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.182s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:45 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.634[m] 102.226[deg] [grasp_sample.py: 596] +05/18 13:47:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:47:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:47:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:47:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:48:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:49:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:49:06 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 13:49:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:49:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:49:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:49:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.222s, found 169 non-colliding grasps [grasp_sample.py: 520] +05/18 13:49:07 INFO: [Worker 0] Feasibility-checked 169 grasps in 0.985s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:49:07 INFO: [Worker 0] Feasible grasp found 150 (originally 150): w/ 0.060[m] 0.866[deg] [grasp_sample.py: 596] +05/18 13:49:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:49:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:49:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:49:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:49:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:49:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:50:24 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:50:49 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/dresser/sim_chunks/chunk_059 [pipeline.py: 1174] +05/18 13:50:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_059 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:50:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 13:51:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:51:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_059 [save_utils.py: 785] +05/18 13:51:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_059 in 15.32s (batch: 4.84s, save: 10.48s) [pipeline.py: 300] +05/18 13:51:05 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.10s: + episode_total: mean=150.72s, total=301.44s, count=2, min=98618.1ms, max=202819.7ms + sensor_polling: mean=473.0ms, total=194.39s, count=411, min=438.4ms, max=627.5ms + physics_step: mean=32.3ms, total=13.27s, count=411, min=24.5ms, max=46.5ms + save_trajectories: mean=10.48s, total=10.48s, count=1, min=10483.0ms, max=10483.0ms + save_batch_prep: mean=4.84s, total=4.84s, count=1, min=4838.3ms, max=4838.3ms + task_sampling: mean=551.2ms, total=1.10s, count=2, min=493.5ms, max=608.9ms + task_specific_sample: mean=546.5ms, total=1.09s, count=2, min=488.9ms, max=604.1ms + scene_randomize: mean=2.7ms, total=5.4ms, count=2, min=2.5ms, max=2.9ms + mj_forward_sync: mean=650.4us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=24.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:51:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:51:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:51:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:51:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:51:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:51:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:51:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135413m [env.py: 870] +05/18 13:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:51:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:51:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=355.9ms, total=355.9ms [env.py: 1105] +05/18 13:51:07 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:51:07 ERROR: [Worker 0] Worker 0 house 1 episode 4 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:51:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:51:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:51:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:51:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:51:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:51:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:51:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194521m [env.py: 870] +05/18 13:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:51:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -119.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 27.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -167.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=237.1ms, total=237.2ms [env.py: 1105] +05/18 13:51:09 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:51:09 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:51:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:51:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:51:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:51:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:51:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:51:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:51:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107290m [env.py: 870] +05/18 13:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:51:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.21710571 -1.20934408 -0.10729019] yaw=-8.1deg [env.py: 1019] +05/18 13:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 19.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 84.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:51:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=260.5ms, total=260.6ms [env.py: 1075] +05/18 13:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.217, -1.209, -0.107) [env.py: 1079] +05/18 13:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -8.1 deg [env.py: 1082] +05/18 13:51:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/18 13:51:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:51:11 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 13:51:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.163s [base_object_manipulation_planner_policy.py: 377] +05/18 13:51:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:51:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:51:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.152s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:51:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.463s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:51:22 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.895[m] 86.402[deg] [grasp_sample.py: 596] +05/18 13:51:24 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:51:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:51:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:51:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:51:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:51:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:51:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:51:26 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: 273] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152060m [env.py: 870] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:51:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -32.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32369561 -1.06435346 -0.15206046] yaw=-55.1deg [env.py: 1019] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.18306079 -1.14384814 -0.15206046] yaw=-36.5deg [env.py: 1019] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.72825951 -0.80129454 -0.15206046] yaw=-83.2deg [env.py: 1019] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:51:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=308.3ms, total=308.4ms [env.py: 1075] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.324, -1.064, -0.152) [env.py: 1079] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.1 deg [env.py: 1082] +05/18 13:51:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m [env.py: 1086] +05/18 13:51:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:51:26 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 13:51:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 13:51:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:51:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:51:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:51:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.126s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:51:39 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.742[m] 80.418[deg] [grasp_sample.py: 596] +05/18 13:51:41 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:51:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:51:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:51:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:51:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:51:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:51:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:51:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121959m [env.py: 870] +05/18 13:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:51:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.66497381 -0.7786801 -0.12195921] yaw=-67.5deg [env.py: 1019] +05/18 13:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:51:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=258.7ms, total=258.7ms [env.py: 1075] +05/18 13:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.665, -0.779, -0.122) [env.py: 1079] +05/18 13:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.5 deg [env.py: 1082] +05/18 13:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.994m [env.py: 1086] +05/18 13:51:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:51:44 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 13:51:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/18 13:51:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:51:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:51:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.167s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:51:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.751s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:51:59 INFO: [Worker 0] Feasible grasp found 53 (originally 53): w/ 0.815[m] 129.356[deg] [grasp_sample.py: 596] +05/18 13:51:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:52:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:52:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:52:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:53:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:53:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:53:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:31 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:54:56 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/dresser/sim_chunks/chunk_059 [pipeline.py: 1174] +05/18 13:54:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_059 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:54:56 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 13:55:12 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:55:12 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_059 [save_utils.py: 785] +05/18 13:55:12 INFO: [Worker 0] Successfully saved trajectory data for chunk_059 in 16.07s (batch: 5.46s, save: 10.62s) [pipeline.py: 300] +05/18 13:55:13 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=1.85s: + episode_total: mean=47.87s, total=239.36s, count=5, min=249.8ms, max=209704.6ms + sensor_polling: mean=459.9ms, total=137.98s, count=300, min=420.4ms, max=600.3ms + save_trajectories: mean=10.62s, total=10.62s, count=1, min=10615.5ms, max=10615.5ms + physics_step: mean=32.2ms, total=9.67s, count=300, min=26.5ms, max=46.4ms + save_batch_prep: mean=5.46s, total=5.46s, count=1, min=5458.9ms, max=5458.9ms + task_specific_sample: mean=490.1ms, total=2.45s, count=5, min=244.2ms, max=642.5ms + task_sampling: mean=617.9ms, total=1.85s, count=3, min=598.6ms, max=646.3ms + task_sampling_failed: mean=310.1ms, total=620.3ms, count=2, min=249.8ms, max=370.5ms + scene_randomize: mean=2.2ms, total=11.0ms, count=5, min=1.6ms, max=3.1ms + mj_forward_sync: mean=663.4us, total=3.3ms, count=5, min=0.6ms, max=0.7ms + policy_setup: mean=31.4us, 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] +05/18 13:55:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:55:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:15 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: 273] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138344m [env.py: 870] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.51664177 -0.88649994 -0.13834446] yaw=-69.5deg [env.py: 1019] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 76.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.05310869 -1.1540214 -0.13834446] yaw=-48.4deg [env.py: 1019] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:55:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=251.7ms, total=251.8ms [env.py: 1075] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.517, -0.886, -0.138) [env.py: 1079] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.5 deg [env.py: 1082] +05/18 13:55:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/18 13:55:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:55:16 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 13:55:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.214s [base_object_manipulation_planner_policy.py: 377] +05/18 13:55:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:55:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:55:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.170s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:55:20 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.741[m] 122.909[deg] [grasp_sample.py: 596] +05/18 13:55:22 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:55:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:55:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109708m [env.py: 870] +05/18 13:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=236.1ms, total=236.2ms [env.py: 1105] +05/18 13:55:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:55:25 ERROR: [Worker 0] Worker 0 house 1 episode 10 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:55:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:55:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:27 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: 273] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146577m [env.py: 870] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 69.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.87949764 -0.90002836 -0.14657688] yaw=-65.8deg [env.py: 1019] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.64098994 -0.84388026 -0.14657688] yaw=-67.4deg [env.py: 1019] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:55:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=251.1ms, total=251.1ms [env.py: 1075] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.879, -0.900, -0.147) [env.py: 1079] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.8 deg [env.py: 1082] +05/18 13:55:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m [env.py: 1086] +05/18 13:55:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:55:27 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 13:55:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.157s [base_object_manipulation_planner_policy.py: 377] +05/18 13:55:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:55:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:55:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.265s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:55:30 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.641[m] 131.181[deg] [grasp_sample.py: 596] +05/18 13:55:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:55:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:55:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:55:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:55:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:56:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:56:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:56:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.361s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:56:06 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.556[m] 102.741[deg] [grasp_sample.py: 596] +05/18 13:56:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:56:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:56:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:56:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:23 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:56:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:56:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:56:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.186s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:56:26 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.556[m] 102.743[deg] [grasp_sample.py: 596] +05/18 13:56:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:56:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:56:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:56:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:56:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:56:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:56:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.515s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:56:46 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.556[m] 102.743[deg] [grasp_sample.py: 596] +05/18 13:56:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:56:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:56:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:56:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:57:03 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 13:57:03 INFO: [Worker 0] Worker 0 house 1 episode 11 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 13:57:03 INFO: [Worker 0] [PROFILE] Episode 11 house 1 success=False episode_total=1.23s: + episode_total: mean=34.53s, total=103.60s, count=3, min=254.9ms, max=96281.6ms + sensor_polling: mean=476.5ms, total=31.93s, count=67, min=448.7ms, max=600.5ms + physics_step: mean=26.6ms, total=1.78s, count=67, min=19.5ms, max=36.8ms + task_specific_sample: mean=486.6ms, total=1.46s, count=3, min=244.0ms, max=637.7ms + task_sampling: mean=612.7ms, total=1.23s, count=2, min=581.3ms, max=644.1ms + task_sampling_failed: mean=254.9ms, total=254.9ms, count=1, min=254.9ms, max=254.9ms + scene_randomize: mean=3.0ms, total=9.0ms, count=3, min=1.6ms, max=4.4ms + mj_forward_sync: mean=708.0us, total=2.1ms, count=3, min=0.6ms, max=0.8ms + policy_setup: mean=53.8us, total=0.1ms, count=2, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:57:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:57:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:57:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:57:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:57:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:57:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:57:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:57:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:57:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123730m [env.py: 870] +05/18 13:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:57:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 40.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -71.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.20565587 -0.92590319 -0.12372968] yaw=-69.5deg [env.py: 1019] +05/18 13:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:57:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=249.3ms, total=249.3ms [env.py: 1075] +05/18 13:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.206, -0.926, -0.124) [env.py: 1079] +05/18 13:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.5 deg [env.py: 1082] +05/18 13:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/18 13:57:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:57:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:57:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:57:06 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 13:57:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s [base_object_manipulation_planner_policy.py: 377] +05/18 13:57:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:57:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:57:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:57:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.225s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:57:11 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:57:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:57:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:57:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:57:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:57:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:57:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:57:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:57:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:57:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:57:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:57:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129160m [env.py: 870] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:57:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38508394 -1.05298903 -0.12916017] yaw=-47.4deg [env.py: 1019] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.81838087 -0.86125381 -0.12916017] yaw=-99.0deg [env.py: 1019] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:57:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.6ms, total=248.7ms [env.py: 1075] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.385, -1.053, -0.129) [env.py: 1079] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.4 deg [env.py: 1082] +05/18 13:57:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/18 13:57:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:57:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:57:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:57:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:57:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:57:14 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 13:57:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s [base_object_manipulation_planner_policy.py: 377] +05/18 13:57:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:57:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:57:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.158s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:57:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.612s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:57:20 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.848[m] 88.164[deg] [grasp_sample.py: 596] +05/18 13:57:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:57:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:57:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:57:21 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:59:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:59:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:59:19 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:14 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:00:39 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/dresser/sim_chunks/chunk_059 [pipeline.py: 1174] +05/18 14:00:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_059 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:00:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:00:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:00:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_059 [save_utils.py: 785] +05/18 14:00:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_059 in 15.72s (batch: 4.53s, save: 11.20s) [pipeline.py: 300] +05/18 14:00:55 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.18s: + episode_total: mean=114.02s, total=228.04s, count=2, min=6101.9ms, max=221933.4ms + sensor_polling: mean=491.6ms, total=147.47s, count=300, min=431.0ms, max=654.5ms + save_trajectories: mean=11.20s, total=11.20s, count=1, min=11195.2ms, max=11195.2ms + physics_step: mean=33.8ms, total=10.15s, count=300, min=24.7ms, max=55.0ms + save_batch_prep: mean=4.53s, total=4.53s, count=1, min=4525.5ms, max=4525.5ms + task_sampling: mean=589.0ms, total=1.18s, count=2, min=587.0ms, max=591.0ms + task_specific_sample: mean=584.9ms, total=1.17s, count=2, min=583.7ms, max=586.2ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.7ms, max=2.4ms + mj_forward_sync: mean=597.0us, total=1.2ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=22.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:00:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:00:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:00:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:00:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:00:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:00:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193692m [env.py: 870] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:00:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15440829 -1.29576384 -0.19369249] yaw=-40.1deg [env.py: 1019] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.03731143 -1.35158998 -0.19369249] yaw=-1.4deg [env.py: 1019] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:00:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=325.7ms, total=325.7ms [env.py: 1075] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.154, -1.296, -0.194) [env.py: 1079] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.1 deg [env.py: 1082] +05/18 14:00:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/18 14:00:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:00:58 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 14:00:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.160s [base_object_manipulation_planner_policy.py: 377] +05/18 14:00:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:00:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.166s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.420s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:01:04 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.733[m] 90.364[deg] [grasp_sample.py: 596] +05/18 14:01:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:01:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:01:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:01:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:02:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:02:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:52 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:02:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:02:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:02:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:02:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.266s, found 94 non-colliding grasps [grasp_sample.py: 520] +05/18 14:02:57 INFO: [Worker 0] Feasibility-checked 94 grasps in 5.278s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:02:57 INFO: [Worker 0] Feasible grasp found 303 (originally 303): w/ 0.024[m] 1.826[deg] [grasp_sample.py: 596] +05/18 14:02:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:02:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:02:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:03:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:03:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:03:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:03:58 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:04:23 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/dresser/sim_chunks/chunk_059 [pipeline.py: 1174] +05/18 14:04:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_059 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:04:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:04:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:04:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_059 [save_utils.py: 785] +05/18 14:04:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_059 in 15.36s (batch: 4.65s, save: 10.70s) [pipeline.py: 300] +05/18 14:04:39 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.71s: + episode_total: mean=221.42s, total=221.42s, count=1, min=221415.1ms, max=221415.1ms + sensor_polling: mean=508.2ms, total=152.46s, count=300, min=449.0ms, max=659.4ms + physics_step: mean=38.5ms, total=11.56s, count=300, min=27.6ms, max=52.0ms + save_trajectories: mean=10.70s, total=10.70s, count=1, min=10703.8ms, max=10703.8ms + save_batch_prep: mean=4.65s, total=4.65s, count=1, min=4653.6ms, max=4653.6ms + task_sampling: mean=705.5ms, total=705.5ms, count=1, min=705.5ms, max=705.5ms + task_specific_sample: mean=700.2ms, total=700.2ms, count=1, min=700.2ms, max=700.2ms + scene_randomize: mean=3.4ms, total=3.4ms, count=1, min=3.4ms, max=3.4ms + mj_forward_sync: mean=747.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=22.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:04:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:04:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193222m [env.py: 870] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 70.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -114.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.64850933 -0.82674183 -0.1932221 ] yaw=-65.8deg [env.py: 1019] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31928002 -1.19011809 -0.1932221 ] yaw=-51.9deg [env.py: 1019] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:04:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=394.2ms, total=394.2ms [env.py: 1075] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.649, -0.827, -0.193) [env.py: 1079] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.8 deg [env.py: 1082] +05/18 14:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m [env.py: 1086] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:04:42 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 14:04:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.198s [base_object_manipulation_planner_policy.py: 377] +05/18 14:04:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:04:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.022s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:04:45 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.755[m] 98.169[deg] [grasp_sample.py: 596] +05/18 14:04:47 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:04:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:04:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154695m [env.py: 870] +05/18 14:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 89.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=345.2ms, total=345.3ms [env.py: 1105] +05/18 14:04:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:04:49 ERROR: [Worker 0] Worker 0 house 1 episode 16 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:04:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:04:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129133m [env.py: 870] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.01659521 -1.38596363 -0.12913313] yaw=-23.9deg [env.py: 1019] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.70164553 -0.94747085 -0.12913313] yaw=-49.2deg [env.py: 1019] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:04:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=358.7ms, total=358.7ms [env.py: 1075] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.017, -1.386, -0.129) [env.py: 1079] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.9 deg [env.py: 1082] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:04:52 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 14:04:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.153s [base_object_manipulation_planner_policy.py: 377] +05/18 14:04:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:04:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.372s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:04:57 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:05:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:05:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:05:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:05:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:05:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:05:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:05:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:05:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:05:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:05:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:05:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104350m [env.py: 870] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:05:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.52479785 -0.8224295 -0.10435034] yaw=-81.5deg [env.py: 1019] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.8970755 -0.67766746 -0.10435034] yaw=-88.1deg [env.py: 1019] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:05:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=279.2ms, total=279.3ms [env.py: 1075] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.525, -0.822, -0.104) [env.py: 1079] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.5 deg [env.py: 1082] +05/18 14:05:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/18 14:05:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:05:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:05:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:05:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:05:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:05:00 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 14:05:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/18 14:05:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:05:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:05:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:05:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.315s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:05:05 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.685[m] 71.029[deg] [grasp_sample.py: 596] +05/18 14:05:07 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:05:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:05:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:05:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:05:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:05:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:05:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:05:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:05:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:05:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:05:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126671m [env.py: 870] +05/18 14:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:05:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 88.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.8879742 -0.82006863 -0.12667118] yaw=-72.0deg [env.py: 1019] +05/18 14:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:05:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=264.6ms, total=264.7ms [env.py: 1075] +05/18 14:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.888, -0.820, -0.127) [env.py: 1079] +05/18 14:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.0 deg [env.py: 1082] +05/18 14:05:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/18 14:05:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:05:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:05:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:05:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:05:10 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 14:05:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/18 14:05:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:05:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:05:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:05:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.913s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:05:13 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.753[m] 136.274[deg] [grasp_sample.py: 596] +05/18 14:05:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:05:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:05:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:05:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:05:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:05:56 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:05:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:05:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:05:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.161s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:05:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.612s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:05:58 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.676[m] 111.718[deg] [grasp_sample.py: 596] +05/18 14:05:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:05:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:05:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:06:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:06:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:06:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:06:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:06:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:06:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.366s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:06:19 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.676[m] 111.720[deg] [grasp_sample.py: 596] +05/18 14:06:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:06:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:06:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:06:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:06:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:06:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:06:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:06:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:06:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.569s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:06:38 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.676[m] 111.720[deg] [grasp_sample.py: 596] +05/18 14:06:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:06:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:06:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:06:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:06:55 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:06:56 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:06:56 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout failed (e.g., IK failure) [task_sampler.py: 396] +05/18 14:06:56 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=False episode_total=2.73s: + episode_total: mean=25.32s, total=126.58s, count=5, min=365.0ms, max=106608.7ms + sensor_polling: mean=517.8ms, total=34.70s, count=67, min=442.1ms, max=679.6ms + task_specific_sample: mean=612.2ms, total=3.06s, count=5, min=353.0ms, max=779.0ms + task_sampling: mean=682.9ms, total=2.73s, count=4, min=601.4ms, max=784.3ms + physics_step: mean=30.6ms, total=2.05s, count=67, min=19.7ms, max=46.5ms + task_sampling_failed: mean=363.9ms, total=363.9ms, count=1, min=363.9ms, max=363.9ms + scene_randomize: mean=3.2ms, total=15.8ms, count=5, min=1.7ms, max=4.2ms + mj_forward_sync: mean=622.5us, total=3.1ms, count=5, min=0.6ms, max=0.7ms + policy_setup: mean=36.0us, total=0.1ms, count=4, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:06:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:06:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:06:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:06:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:06:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:06:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:06:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108963m [env.py: 870] +05/18 14:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:06:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:06:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.05422971 -1.09701821 -0.10896289] yaw=-39.1deg [env.py: 1019] +05/18 14:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:06:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=260.4ms, total=260.4ms [env.py: 1075] +05/18 14:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.054, -1.097, -0.109) [env.py: 1079] +05/18 14:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.1 deg [env.py: 1082] +05/18 14:06:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/18 14:06:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:06:59 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 14:06:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.170s [base_object_manipulation_planner_policy.py: 377] +05/18 14:06:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:06:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:06:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.162s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:07:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.253s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:07:05 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:07:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:07:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190257m [env.py: 870] +05/18 14:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -113.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.62811102 -0.81735259 -0.19025671] yaw=-59.2deg [env.py: 1019] +05/18 14:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.79504299 -0.72268232 -0.19025671] yaw=-85.4deg [env.py: 1019] +05/18 14:07:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:07:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=262.0ms, total=262.1ms [env.py: 1075] +05/18 14:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.628, -0.817, -0.190) [env.py: 1079] +05/18 14:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.2 deg [env.py: 1082] +05/18 14:07:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.969m [env.py: 1086] +05/18 14:07:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:07:08 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 14:07:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:07:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:07:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.161s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:07:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.337s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:07:16 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.811[m] 54.727[deg] [grasp_sample.py: 596] +05/18 14:07:18 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:07:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:07:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112522m [env.py: 870] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.8891473 -0.723896 -0.11252178] yaw=-88.4deg [env.py: 1019] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.00829128 -1.36752917 -0.11252178] yaw=-42.9deg [env.py: 1019] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.08248184 -1.06364195 -0.11252178] yaw=-15.4deg [env.py: 1019] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:07:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=243.9ms, total=243.9ms [env.py: 1075] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.889, -0.724, -0.113) [env.py: 1079] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.4 deg [env.py: 1082] +05/18 14:07:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/18 14:07:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:07:21 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 14:07:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s [base_object_manipulation_planner_policy.py: 377] +05/18 14:07:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:07:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:07:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.534s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:07:28 INFO: [Worker 0] Feasible grasp found 205 (originally 205): w/ 0.903[m] 69.097[deg] [grasp_sample.py: 596] +05/18 14:07:30 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:07:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:07:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124082m [env.py: 870] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 53.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.59456186 -0.90200724 -0.12408165] yaw=-42.4deg [env.py: 1019] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2832141 -1.23086573 -0.12408165] yaw=-33.4deg [env.py: 1019] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.5630703 -0.90442635 -0.12408165] yaw=-65.0deg [env.py: 1019] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:07:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=190.1ms, total=190.2ms [env.py: 1075] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.595, -0.902, -0.124) [env.py: 1079] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.4 deg [env.py: 1082] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.902m [env.py: 1086] +05/18 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:07:33 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 14:07:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/18 14:07:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:07:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.158s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:07:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.981s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:07:40 INFO: [Worker 0] Feasible grasp found 43 (originally 43): w/ 0.784[m] 103.343[deg] [grasp_sample.py: 596] +05/18 14:07:42 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:07:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:07:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191722m [env.py: 870] +05/18 14:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=243.0ms, total=243.1ms [env.py: 1105] +05/18 14:07:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:07:44 ERROR: [Worker 0] Worker 0 house 1 episode 24 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:07:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:07:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166015m [env.py: 870] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.11296557 -1.4228769 -0.16601515] yaw=-44.2deg [env.py: 1019] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.90730435 -0.79396809 -0.16601515] yaw=-71.6deg [env.py: 1019] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:07:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=268.0ms, total=268.1ms [env.py: 1075] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.113, -1.423, -0.166) [env.py: 1079] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.2 deg [env.py: 1082] +05/18 14:07:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/18 14:07:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:07:47 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 14:07:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.080s [base_object_manipulation_planner_policy.py: 377] +05/18 14:07:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:07:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:07:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.386s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:07:53 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.739[m] 102.069[deg] [grasp_sample.py: 596] +05/18 14:07:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:07:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:07:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:07:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:09:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:09:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:09:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:09:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:10:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:10:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:10:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.254s, found 111 non-colliding grasps [grasp_sample.py: 520] +05/18 14:10:08 INFO: [Worker 0] Feasibility-checked 111 grasps in 5.226s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:10:08 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.036[m] 5.201[deg] [grasp_sample.py: 596] +05/18 14:10:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:10:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:10:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:10:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:11:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:11:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:11:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.197s, found 272 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.121s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:11:14 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:11:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163830m [env.py: 870] +05/18 14:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.41504552 -1.09542689 -0.16382968] yaw=-70.4deg [env.py: 1019] +05/18 14:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.89567329 -0.82424438 -0.16382968] yaw=-76.9deg [env.py: 1019] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=247.1ms, total=247.1ms [env.py: 1075] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.415, -1.095, -0.164) [env.py: 1079] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.4 deg [env.py: 1082] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:17 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:11:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.277s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:19 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.589[m] 94.059[deg] [grasp_sample.py: 596] +05/18 14:11:21 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:11:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129395m [env.py: 870] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 19.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.01042861 -1.28570694 -0.12939495] yaw=-46.2deg [env.py: 1019] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.60484064 -0.69306535 -0.12939495] yaw=-85.2deg [env.py: 1019] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=248.6ms, total=248.7ms [env.py: 1075] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.010, -1.286, -0.129) [env.py: 1079] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.2 deg [env.py: 1082] +05/18 14:11:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/18 14:11:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:24 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:11:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.910s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:11:29 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:11:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100681m [env.py: 870] +05/18 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -112.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.34282935 -0.96745122 -0.10068143] yaw=-61.0deg [env.py: 1019] +05/18 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 23.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=250.6ms, total=250.7ms [env.py: 1075] +05/18 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.343, -0.967, -0.101) [env.py: 1079] +05/18 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.0 deg [env.py: 1082] +05/18 14:11:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/18 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:32 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:11:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.805s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:41 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.773[m] 67.256[deg] [grasp_sample.py: 596] +05/18 14:11:43 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:11:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185839m [env.py: 870] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.45754488 -0.92062573 -0.18583898] yaw=-63.2deg [env.py: 1019] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.71502614 -0.90519143 -0.18583898] yaw=-52.4deg [env.py: 1019] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.106549 -1.19468202 -0.18583898] yaw=-59.1deg [env.py: 1019] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=254.7ms, total=254.8ms [env.py: 1075] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.458, -0.921, -0.186) [env.py: 1079] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.2 deg [env.py: 1082] +05/18 14:11:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.948m [env.py: 1086] +05/18 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:46 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:11:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:12:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.391s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:12:00 INFO: [Worker 0] Feasible grasp found 551 (originally 244): w/ 0.628[m] 90.385[deg] [grasp_sample.py: 596] +05/18 14:12:02 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:12:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:12:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:12:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:12:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:12:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:12:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:12:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182957m [env.py: 870] +05/18 14:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:12:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -56.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.73141249 -0.72838708 -0.18295726] yaw=-87.2deg [env.py: 1019] +05/18 14:12:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:12:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=264.5ms, total=264.5ms [env.py: 1075] +05/18 14:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.731, -0.728, -0.183) [env.py: 1079] +05/18 14:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -87.2 deg [env.py: 1082] +05/18 14:12:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/18 14:12:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:12:05 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 14:12:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/18 14:12:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:12:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:12:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:12:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 24.752s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:12:30 INFO: [Worker 0] Feasible grasp found 527 (originally 220): w/ 0.726[m] 105.278[deg] [grasp_sample.py: 596] +05/18 14:12:32 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:12:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:12:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:12:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:12:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:12:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:12:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:12:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135498m [env.py: 870] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:12:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22266359 -1.36452792 -0.13549793] yaw=-41.4deg [env.py: 1019] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.1545799 -1.14840005 -0.13549793] yaw=-38.1deg [env.py: 1019] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:12:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=240.0ms, total=240.1ms [env.py: 1075] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.223, -1.365, -0.135) [env.py: 1079] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.4 deg [env.py: 1082] +05/18 14:12:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/18 14:12:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:12:34 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 14:12:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/18 14:12:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:12:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:12:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:12:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.834s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:12:39 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.588[m] 94.409[deg] [grasp_sample.py: 596] +05/18 14:12:41 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:12:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:12:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:12:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:12:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:12:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:12:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:12:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107409m [env.py: 870] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:12:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04989931 -1.19772071 -0.1074094 ] yaw=-17.3deg [env.py: 1019] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:12:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=238.4ms, total=238.4ms [env.py: 1075] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.050, -1.198, -0.107) [env.py: 1079] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -17.3 deg [env.py: 1082] +05/18 14:12:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m [env.py: 1086] +05/18 14:12:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:12:44 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 14:12:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/18 14:12:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:12:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:12:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:12:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.114s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:12:49 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:12:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:12:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:12:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:12:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:12:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:12:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:12:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195152m [env.py: 870] +05/18 14:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:12:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.02753654 -1.24322637 -0.19515223] yaw=-44.5deg [env.py: 1019] +05/18 14:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 172.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:12:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=245.0ms, total=245.1ms [env.py: 1075] +05/18 14:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.028, -1.243, -0.195) [env.py: 1079] +05/18 14:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.5 deg [env.py: 1082] +05/18 14:12:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/18 14:12:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:12:52 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 14:12:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s [base_object_manipulation_planner_policy.py: 377] +05/18 14:12:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:12:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:12:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:12:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.268s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:12:57 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:13:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:13:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177486m [env.py: 870] +05/18 14:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=242.0ms, total=242.0ms [env.py: 1105] +05/18 14:13:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:13:00 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] +05/18 14:13:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:13:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140701m [env.py: 870] +05/18 14:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32516521 -1.20769375 -0.14070086] yaw=-38.8deg [env.py: 1019] +05/18 14:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -148.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:13:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=254.0ms, total=254.1ms [env.py: 1075] +05/18 14:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.325, -1.208, -0.141) [env.py: 1079] +05/18 14:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.8 deg [env.py: 1082] +05/18 14:13:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/18 14:13:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:13:03 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 14:13:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:13:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:13:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.160s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.534s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:13:06 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.577[m] 98.279[deg] [grasp_sample.py: 596] +05/18 14:13:08 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:13:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:13:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151403m [env.py: 870] +05/18 14:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -130.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -128.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=242.1ms, total=242.2ms [env.py: 1105] +05/18 14:13:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:13:10 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:13:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:13:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126827m [env.py: 870] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62852912 -0.75897874 -0.12682731] yaw=-90.9deg [env.py: 1019] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 45.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33268404 -0.90219306 -0.12682731] yaw=-79.3deg [env.py: 1019] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:13:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.4ms, total=248.4ms [env.py: 1075] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.629, -0.759, -0.127) [env.py: 1079] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.9 deg [env.py: 1082] +05/18 14:13:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/18 14:13:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:13:13 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 14:13:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 14:13:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:13:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.161s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.301s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:13:23 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.766[m] 82.598[deg] [grasp_sample.py: 596] +05/18 14:13:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:13:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:13:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:13:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:14:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:14:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:14:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.379s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:15:02 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.172[m] 11.869[deg] [grasp_sample.py: 596] +05/18 14:15:04 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:15:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:15:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:15:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:15:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:15:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:15:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154111m [env.py: 870] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:15:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55490877 -0.8128714 -0.1541115 ] yaw=-46.7deg [env.py: 1019] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.61918947 -0.86300408 -0.1541115 ] yaw=-55.1deg [env.py: 1019] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -83.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.19267207 -1.22367782 -0.1541115 ] yaw=-51.6deg [env.py: 1019] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:15:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=218.3ms, total=218.4ms [env.py: 1075] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.555, -0.813, -0.154) [env.py: 1079] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.7 deg [env.py: 1082] +05/18 14:15:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.000m [env.py: 1086] +05/18 14:15:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:15:07 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 14:15:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/18 14:15:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:15:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.161s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 18.388s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:15:26 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.753[m] 128.730[deg] [grasp_sample.py: 596] +05/18 14:15:28 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:15:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:15:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:15:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:15:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:15:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:15:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:15:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138693m [env.py: 870] +05/18 14:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:15:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.76464199 -0.78563308 -0.13869291] yaw=-98.0deg [env.py: 1019] +05/18 14:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:15:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=248.2ms, total=248.3ms [env.py: 1075] +05/18 14:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.765, -0.786, -0.139) [env.py: 1079] +05/18 14:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.0 deg [env.py: 1082] +05/18 14:15:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.963m [env.py: 1086] +05/18 14:15:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:15:30 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 14:15:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/18 14:15:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:15:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.336s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:15:36 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.830[m] 64.334[deg] [grasp_sample.py: 596] +05/18 14:15:39 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:15:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:15:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:15:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:15:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:15:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:15:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:15:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118654m [env.py: 870] +05/18 14:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:15:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.29791357 -0.95427482 -0.1186543 ] yaw=-39.3deg [env.py: 1019] +05/18 14:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:15:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=249.3ms, total=249.3ms [env.py: 1075] +05/18 14:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.298, -0.954, -0.119) [env.py: 1079] +05/18 14:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.3 deg [env.py: 1082] +05/18 14:15:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/18 14:15:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:15:42 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/18 14:15:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/18 14:15:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:15:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.161s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.693s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:15:55 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:15:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:15:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:15:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:15:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:15:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:15:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:15:57 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: 273] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133038m [env.py: 870] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:15:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 84.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53371034 -0.87863621 -0.13303792] yaw=-45.5deg [env.py: 1019] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.65985532 -0.76463095 -0.13303792] yaw=-72.2deg [env.py: 1019] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:15:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=273.5ms, total=273.5ms [env.py: 1075] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.534, -0.879, -0.133) [env.py: 1079] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/18 14:15:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/18 14:15:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:15:57 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/18 14:15:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s [base_object_manipulation_planner_policy.py: 377] +05/18 14:15:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:15:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:16:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.266s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:16:03 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.840[m] 80.844[deg] [grasp_sample.py: 596] +05/18 14:16:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:16:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:16:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:17:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:17:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:17:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:18:42 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:19:08 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/dresser/sim_chunks/chunk_059 [pipeline.py: 1174] +05/18 14:19:08 INFO: [Worker 0] Batching and saving trajectory data for chunk_059 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:19:08 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:19:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:19:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_059 [save_utils.py: 785] +05/18 14:19:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_059 in 16.02s (batch: 4.72s, save: 11.30s) [pipeline.py: 300] +05/18 14:19:25 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=11.18s: + episode_total: mean=31.78s, total=699.05s, count=22, min=254.5ms, max=208021.2ms + sensor_polling: mean=488.0ms, total=358.20s, count=734, min=425.9ms, max=676.6ms + physics_step: mean=34.5ms, total=25.30s, count=734, min=23.8ms, max=66.0ms + task_specific_sample: mean=538.5ms, total=11.85s, count=22, min=249.0ms, max=635.0ms + save_trajectories: mean=11.30s, total=11.30s, count=1, min=11302.5ms, max=11302.5ms + task_sampling: mean=588.1ms, total=11.17s, count=19, min=532.5ms, max=639.0ms + save_batch_prep: mean=4.72s, total=4.72s, count=1, min=4721.6ms, max=4721.6ms + task_sampling_failed: mean=255.4ms, total=766.2ms, count=3, min=254.5ms, max=257.2ms + scene_randomize: mean=2.0ms, total=44.9ms, count=22, min=1.6ms, max=3.1ms + mj_forward_sync: mean=653.5us, total=14.4ms, count=22, min=0.6ms, max=0.8ms + policy_setup: mean=22.3us, total=0.4ms, count=19, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=22, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:19:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:19:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:27 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: 273] +05/18 14:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152771m [env.py: 870] +05/18 14:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -25.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=255.8ms, total=255.9ms [env.py: 1105] +05/18 14:19:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:19:27 ERROR: [Worker 0] Worker 0 house 1 episode 42 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:19:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:19:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184223m [env.py: 870] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56253137 -0.77870129 -0.18422334] yaw=-91.6deg [env.py: 1019] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.78168319 -0.82559188 -0.18422334] yaw=-66.8deg [env.py: 1019] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=265.4ms, total=265.4ms [env.py: 1075] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.563, -0.779, -0.184) [env.py: 1079] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -91.6 deg [env.py: 1082] +05/18 14:19:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/18 14:19:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:30 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.168s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:19:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.170s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.293s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:19:39 INFO: [Worker 0] Feasible grasp found 219 (originally 219): w/ 0.833[m] 101.941[deg] [grasp_sample.py: 596] +05/18 14:19:41 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:19:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:19:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108977m [env.py: 870] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -84.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10123784 -1.07063739 -0.10897665] yaw=-20.2deg [env.py: 1019] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.27179119 -1.1642027 -0.10897665] yaw=-33.2deg [env.py: 1019] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=275.3ms, total=275.4ms [env.py: 1075] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.101, -1.071, -0.109) [env.py: 1079] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.2 deg [env.py: 1082] +05/18 14:19:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/18 14:19:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:44 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:19:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.278s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:19:49 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:19:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:19:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141634m [env.py: 870] +05/18 14:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 8.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -13.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=282.4ms, total=282.5ms [env.py: 1105] +05/18 14:19:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:19:51 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] +05/18 14:19:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:19:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:54 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: 273] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122685m [env.py: 870] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -102.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.17160524 -1.18152151 -0.12268529] yaw=-57.6deg [env.py: 1019] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.85590893 -0.8861345 -0.12268529] yaw=-86.2deg [env.py: 1019] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=277.3ms, total=277.4ms [env.py: 1075] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.172, -1.182, -0.123) [env.py: 1079] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/18 14:19:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.953m [env.py: 1086] +05/18 14:19:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:54 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.158s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:19:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:20:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.955s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:20:01 INFO: [Worker 0] Feasible grasp found 137 (originally 137): w/ 0.874[m] 133.581[deg] [grasp_sample.py: 596] +05/18 14:20:02 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:20:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:20:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:20:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:20:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:20:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:20:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:20:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:20:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:20:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:20:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:20:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162768m [env.py: 870] +05/18 14:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:20:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=296.4ms, total=296.4ms [env.py: 1105] +05/18 14:20:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:20:05 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] +05/18 14:20:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:20:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:20:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:20:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:20:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:20:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:20:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:20:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:20:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:20:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:20:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163291m [env.py: 870] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:20:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 22.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 176.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.17378078 -1.40835823 -0.16329103] yaw=-34.9deg [env.py: 1019] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.8862434 -0.70229636 -0.16329103] yaw=-91.1deg [env.py: 1019] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:20:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=256.1ms, total=256.1ms [env.py: 1075] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.174, -1.408, -0.163) [env.py: 1079] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.9 deg [env.py: 1082] +05/18 14:20:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/18 14:20:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:20:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:20:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:20:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:20:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:20:07 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 14:20:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:20:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:20:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:20:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:20:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.543s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:20:09 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.533[m] 96.771[deg] [grasp_sample.py: 596] +05/18 14:20:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:20:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:20:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:20:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:21:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:21:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:21:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:22:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:22:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:22:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:22:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:22:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:22:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:22:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:22:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:22:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:22:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:22:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:22:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.304s, found 115 non-colliding grasps [grasp_sample.py: 520] +05/18 14:23:00 INFO: [Worker 0] Feasibility-checked 115 grasps in 5.360s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:23:00 INFO: [Worker 0] Feasible grasp found 137 (originally 137): w/ 0.025[m] 12.306[deg] [grasp_sample.py: 596] +05/18 14:23:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:23:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:23:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:23:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:23:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:23:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:23:36 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:24:01 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/dresser/sim_chunks/chunk_059 [pipeline.py: 1174] +05/18 14:24:01 INFO: [Worker 0] Batching and saving trajectory data for chunk_059 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:24:01 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/18 14:24:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:24:16 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_059 [save_utils.py: 785] +05/18 14:24:16 INFO: [Worker 0] Successfully saved trajectory data for chunk_059 in 15.20s (batch: 4.16s, save: 11.04s) [pipeline.py: 300] +05/18 14:24:17 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=2.51s: + episode_total: mean=39.71s, total=277.96s, count=7, min=270.0ms, max=250108.3ms + sensor_polling: mean=539.7ms, total=161.38s, count=299, min=485.0ms, max=703.4ms + physics_step: mean=46.2ms, total=13.81s, count=299, min=31.8ms, max=65.6ms + save_trajectories: mean=11.04s, total=11.04s, count=1, min=11038.4ms, max=11038.4ms + save_batch_prep: mean=4.16s, total=4.16s, count=1, min=4162.5ms, max=4162.5ms + task_specific_sample: mean=479.1ms, total=3.35s, count=7, min=263.7ms, max=636.7ms + task_sampling: mean=627.8ms, total=2.51s, count=4, min=608.1ms, max=640.2ms + task_sampling_failed: mean=291.8ms, total=875.4ms, count=3, min=270.0ms, max=309.8ms + scene_randomize: mean=2.2ms, total=15.3ms, count=7, min=1.6ms, max=2.9ms + mj_forward_sync: mean=650.5us, total=4.6ms, count=7, min=0.5ms, max=0.7ms + policy_setup: mean=20.9us, total=0.1ms, count=4, 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] +05/18 14:24:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:24:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:24:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:24:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:24:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:24:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:24:19 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: 273] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117046m [env.py: 870] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:24:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.13620248 -1.2564053 -0.11704634] yaw=-18.0deg [env.py: 1019] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.68496757 -0.77595615 -0.11704634] yaw=-74.6deg [env.py: 1019] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:24:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=330.0ms, total=330.1ms [env.py: 1075] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.136, -1.256, -0.117) [env.py: 1079] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.0 deg [env.py: 1082] +05/18 14:24:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/18 14:24:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:24:19 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/18 14:24:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.191s [base_object_manipulation_planner_policy.py: 377] +05/18 14:24:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:24:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:24:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:24:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.029s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:24:39 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.727[m] 116.321[deg] [grasp_sample.py: 596] +05/18 14:24:41 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:24:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:24:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:24:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:24:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:24:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:24:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:24:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177556m [env.py: 870] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:24:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 168.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -52.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.63319059 -0.89399826 -0.17755646] yaw=-60.9deg [env.py: 1019] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.00500503 -1.39427915 -0.17755646] yaw=-7.3deg [env.py: 1019] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:24:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=308.5ms, total=308.6ms [env.py: 1075] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.633, -0.894, -0.178) [env.py: 1079] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg [env.py: 1082] +05/18 14:24:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/18 14:24:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:24:43 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/18 14:24:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s [base_object_manipulation_planner_policy.py: 377] +05/18 14:24:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:24:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:24:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.138s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:24:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.495s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:24:45 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.805[m] 78.330[deg] [grasp_sample.py: 596] +05/18 14:24:47 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:24:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:24:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:24:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:24:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:24:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:24:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:24:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121766m [env.py: 870] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:24:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 21.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42826111 -0.9349243 -0.1217659 ] yaw=-59.3deg [env.py: 1019] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.10508625 -1.27344322 -0.1217659 ] yaw=-18.6deg [env.py: 1019] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:24:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=260.9ms, total=260.9ms [env.py: 1075] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.428, -0.935, -0.122) [env.py: 1079] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.3 deg [env.py: 1082] +05/18 14:24:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086] +05/18 14:24:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:24:49 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/18 14:24:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.163s [base_object_manipulation_planner_policy.py: 377] +05/18 14:24:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:24:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:24:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:24:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.932s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:24:59 INFO: [Worker 0] Feasible grasp found 150 (originally 150): w/ 0.737[m] 112.002[deg] [grasp_sample.py: 596] +05/18 14:25:00 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:25:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:25:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:25:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:25:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:25:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:25:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107580m [env.py: 870] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:25:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2514226 -1.26465424 -0.10757968] yaw=-19.1deg [env.py: 1019] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32078017 -0.88127106 -0.10757968] yaw=-63.7deg [env.py: 1019] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.08833671 -1.26819495 -0.10757968] yaw=-19.6deg [env.py: 1019] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:25:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=128.3ms, total=128.3ms [env.py: 1075] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.251, -1.265, -0.108) [env.py: 1079] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.1 deg [env.py: 1082] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:25:03 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 14:25:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s [base_object_manipulation_planner_policy.py: 377] +05/18 14:25:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:25:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:25:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:25:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.358s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:25:09 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.777[m] 73.531[deg] [grasp_sample.py: 596] +05/18 14:25:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:25:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:25:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:25:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:26:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:26:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:26:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:27:57 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:28:23 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/dresser/sim_chunks/chunk_059 [pipeline.py: 1174] +05/18 14:28:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_059 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:28:23 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/18 14:28:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:28:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_059 [save_utils.py: 785] +05/18 14:28:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_059 in 15.36s (batch: 4.49s, save: 10.87s) [pipeline.py: 300] +05/18 14:28:39 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=2.56s: + episode_total: mean=63.42s, total=253.68s, count=4, min=4259.5ms, max=215934.4ms + sensor_polling: mean=524.3ms, total=152.06s, count=290, min=434.0ms, max=676.9ms + physics_step: mean=41.6ms, total=12.06s, count=290, min=25.0ms, max=53.7ms + save_trajectories: mean=10.87s, total=10.87s, count=1, min=10870.8ms, max=10870.8ms + save_batch_prep: mean=4.49s, total=4.49s, count=1, min=4487.0ms, max=4487.0ms + task_sampling: mean=640.8ms, total=2.56s, count=4, min=497.7ms, max=750.1ms + task_specific_sample: mean=632.3ms, total=2.53s, count=4, min=485.0ms, max=745.2ms + scene_randomize: mean=2.5ms, total=10.0ms, count=4, min=1.6ms, max=2.9ms + mj_forward_sync: mean=648.8us, total=2.6ms, count=4, min=0.6ms, max=0.8ms + policy_setup: mean=44.7us, total=0.2ms, count=4, min=0.0ms, max=0.1ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:28:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:28:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:28:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:28:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:28:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:28:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:28:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:28:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:28:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162076m [env.py: 870] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:28:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.61067382 -0.85870788 -0.16207604] yaw=-41.6deg [env.py: 1019] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:28:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=421.9ms, total=422.0ms [env.py: 1075] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.611, -0.859, -0.162) [env.py: 1079] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.6 deg [env.py: 1082] +05/18 14:28:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/18 14:28:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:28:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:28:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:28:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:28:41 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/18 14:28:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.170s [base_object_manipulation_planner_policy.py: 377] +05/18 14:28:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:28:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:28:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.165s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:28:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.360s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:28:47 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.797[m] 76.167[deg] [grasp_sample.py: 596] +05/18 14:28:49 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:28:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:28:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:28:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:28:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:28:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:28:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:28:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:28:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:28:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144148m [env.py: 870] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:28:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.01610857 -1.22680708 -0.14414838] yaw=-9.4deg [env.py: 1019] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.29044005 -1.22547678 -0.14414838] yaw=-9.0deg [env.py: 1019] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:28:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=219.2ms, total=219.2ms [env.py: 1075] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.016, -1.227, -0.144) [env.py: 1079] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -9.4 deg [env.py: 1082] +05/18 14:28:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/18 14:28:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:28:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:28:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:28:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:28:51 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/18 14:28:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.155s [base_object_manipulation_planner_policy.py: 377] +05/18 14:28:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:28:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:28:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:28:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.502s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:28:57 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:28:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:28:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:28:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:28:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:28:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:28:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:28:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:28:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:28:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198119m [env.py: 870] +05/18 14:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:28:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -169.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.02166546 -1.17191865 -0.19811902] yaw=-46.9deg [env.py: 1019] +05/18 14:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:28:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=312.0ms, total=312.0ms [env.py: 1075] +05/18 14:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.022, -1.172, -0.198) [env.py: 1079] +05/18 14:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.9 deg [env.py: 1082] +05/18 14:28:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/18 14:28:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:28:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:28:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:00 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.167s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:29:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.162s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.383s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:29:05 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:29:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:29:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108504m [env.py: 870] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 10.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.58710608 -0.75264183 -0.10850387] yaw=-65.4deg [env.py: 1019] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.3153335 -1.03680957 -0.10850387] yaw=-51.1deg [env.py: 1019] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -65.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.81194554 -0.77543291 -0.10850387] yaw=-91.8deg [env.py: 1019] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=170.5ms, total=170.5ms [env.py: 1075] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.587, -0.753, -0.109) [env.py: 1079] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.4 deg [env.py: 1082] +05/18 14:29:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.044m [env.py: 1086] +05/18 14:29:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:08 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.156s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:29:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.424s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:29:13 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:29:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:29:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187258m [env.py: 870] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -88.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57512766 -0.96833767 -0.18725814] yaw=-37.7deg [env.py: 1019] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39476491 -0.86542275 -0.18725814] yaw=-43.9deg [env.py: 1019] +05/18 14:29:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.74610012 -0.94106509 -0.18725814] yaw=-96.1deg [env.py: 1019] +05/18 14:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=388.7ms, total=388.7ms [env.py: 1075] +05/18 14:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.575, -0.968, -0.187) [env.py: 1079] +05/18 14:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.7 deg [env.py: 1082] +05/18 14:29:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/18 14:29:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:16 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:29:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.165s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.699s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:29:21 INFO: [Worker 0] Feasible grasp found 19 (originally 19): w/ 0.663[m] 107.888[deg] [grasp_sample.py: 596] +05/18 14:29:24 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:29:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:29:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135066m [env.py: 870] +05/18 14:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36728466 -0.97228976 -0.13506569] yaw=-47.4deg [env.py: 1019] +05/18 14:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32247819 -0.85275147 -0.13506569] yaw=-38.2deg [env.py: 1019] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=314.5ms, total=314.6ms [env.py: 1075] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.367, -0.972, -0.135) [env.py: 1079] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.4 deg [env.py: 1082] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/18 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:26 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:29:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.161s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.971s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:29:35 INFO: [Worker 0] Feasible grasp found 142 (originally 142): w/ 0.678[m] 104.306[deg] [grasp_sample.py: 596] +05/18 14:29:38 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:29:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:29:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171739m [env.py: 870] +05/18 14:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=370.6ms, total=370.7ms [env.py: 1105] +05/18 14:29:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:29:40 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:29:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:29:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169323m [env.py: 870] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.34250189 -0.9719786 -0.16932344] yaw=-73.2deg [env.py: 1019] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.73175979 -0.9011903 -0.16932344] yaw=-103.8deg [env.py: 1019] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=306.4ms, total=306.4ms [env.py: 1075] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.343, -0.972, -0.169) [env.py: 1079] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.2 deg [env.py: 1082] +05/18 14:29:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/18 14:29:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:42 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:29:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.163s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.126s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:29:50 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.649[m] 116.406[deg] [grasp_sample.py: 596] +05/18 14:29:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:29:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:29:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:29:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:31:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:31:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:31:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:32:27 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:32:51 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/dresser/sim_chunks/chunk_059 [pipeline.py: 1174] +05/18 14:32:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_059 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:32:51 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/18 14:33:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:33:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_059 [save_utils.py: 785] +05/18 14:33:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_059 in 16.37s (batch: 6.41s, save: 9.96s) [pipeline.py: 300] +05/18 14:33:08 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=4.70s: + episode_total: mean=31.88s, total=255.04s, count=8, min=395.6ms, max=206529.7ms + sensor_polling: mean=529.8ms, total=141.45s, count=267, min=438.8ms, max=697.7ms + physics_step: mean=45.5ms, total=12.14s, count=267, min=23.3ms, max=53.7ms + save_trajectories: mean=9.96s, total=9.96s, count=1, min=9961.1ms, max=9961.1ms + save_batch_prep: mean=6.41s, total=6.41s, count=1, min=6412.6ms, max=6412.6ms + task_specific_sample: mean=631.9ms, total=5.05s, count=8, min=389.2ms, max=804.7ms + task_sampling: mean=672.1ms, total=4.70s, count=7, min=516.1ms, max=812.0ms + task_sampling_failed: mean=395.6ms, total=395.6ms, count=1, min=395.6ms, max=395.6ms + scene_randomize: mean=2.2ms, total=17.4ms, count=8, min=1.5ms, max=2.8ms + mj_forward_sync: mean=635.1us, total=5.1ms, count=8, min=0.5ms, max=0.7ms + policy_setup: mean=25.0us, total=0.2ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:33:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:33:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118226m [env.py: 870] +05/18 14:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -60.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25969083 -1.15867453 -0.11822647] yaw=-53.8deg [env.py: 1019] +05/18 14:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42641936 -0.82219582 -0.11822647] yaw=-46.2deg [env.py: 1019] +05/18 14:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.01309346 -1.34977986 -0.11822647] yaw=-17.0deg [env.py: 1019] +05/18 14:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=290.3ms, total=290.4ms [env.py: 1075] +05/18 14:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -1.159, -0.118) [env.py: 1079] +05/18 14:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg [env.py: 1082] +05/18 14:33:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/18 14:33:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:11 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.167s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:33:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.140s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.252s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:33:19 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.724[m] 105.060[deg] [grasp_sample.py: 596] +05/18 14:33:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:33:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:33:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:33:20 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:34:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:34:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:34:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:35:58 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:36:23 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/dresser/sim_chunks/chunk_059 [pipeline.py: 1174] +05/18 14:36:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_059 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:36:23 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/18 14:36:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:36:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_059 [save_utils.py: 785] +05/18 14:36:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_059 in 15.88s (batch: 5.13s, save: 10.75s) [pipeline.py: 300] +05/18 14:36:40 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=0.67s: + episode_total: mean=209.34s, total=209.34s, count=1, min=209338.3ms, max=209338.3ms + sensor_polling: mean=520.0ms, total=145.59s, count=280, min=455.2ms, max=725.0ms + save_trajectories: mean=10.75s, total=10.75s, count=1, min=10751.8ms, max=10751.8ms + physics_step: mean=36.8ms, total=10.31s, count=280, min=26.6ms, max=52.6ms + save_batch_prep: mean=5.13s, total=5.13s, count=1, min=5130.8ms, max=5130.8ms + task_sampling: mean=670.6ms, total=670.6ms, count=1, min=670.6ms, max=670.6ms + task_specific_sample: mean=664.8ms, total=664.8ms, count=1, min=664.8ms, max=664.8ms + scene_randomize: mean=3.8ms, total=3.8ms, count=1, min=3.8ms, max=3.8ms + mj_forward_sync: mean=962.2us, total=1.0ms, count=1, min=1.0ms, max=1.0ms + policy_setup: mean=23.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:36:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:36:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:36:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:36:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:36:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:36:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:36:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:36:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:36:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:36:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180661m [env.py: 870] +05/18 14:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:36:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=413.7ms, total=413.8ms [env.py: 1105] +05/18 14:36:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:36:42 ERROR: [Worker 0] Worker 0 house 1 episode 62 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:36:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:36:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:36:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:36:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:36:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:36:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:36:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:36:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:36:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:36:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194951m [env.py: 870] +05/18 14:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:36:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:36:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 19.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -96.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.50507409 -0.97158827 -0.19495104] yaw=-60.8deg [env.py: 1019] +05/18 14:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:36:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=283.8ms, total=283.9ms [env.py: 1075] +05/18 14:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.505, -0.972, -0.195) [env.py: 1079] +05/18 14:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.8 deg [env.py: 1082] +05/18 14:36:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.880m [env.py: 1086] +05/18 14:36:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:36:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:36:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:36:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:36:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:36:45 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/18 14:36:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s [base_object_manipulation_planner_policy.py: 377] +05/18 14:36:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:36:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:36:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.163s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:36:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.063s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:36:56 INFO: [Worker 0] Feasible grasp found 551 (originally 244): w/ 0.621[m] 106.470[deg] [grasp_sample.py: 596] +05/18 14:36:58 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:37:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:37:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:37:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:37:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:37:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:37:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:37:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184562m [env.py: 870] +05/18 14:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:37:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:37:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.63799192 -0.92480066 -0.18456175] yaw=-46.7deg [env.py: 1019] +05/18 14:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.53670974 -0.94541154 -0.18456175] yaw=-60.6deg [env.py: 1019] +05/18 14:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:37:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=297.2ms, total=297.2ms [env.py: 1075] +05/18 14:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.638, -0.925, -0.185) [env.py: 1079] +05/18 14:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.7 deg [env.py: 1082] +05/18 14:37:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/18 14:37:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:37:01 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/18 14:37:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.164s [base_object_manipulation_planner_policy.py: 377] +05/18 14:37:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:37:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:37:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.168s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:37:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.199s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:37:05 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.539[m] 111.011[deg] [grasp_sample.py: 596] +05/18 14:37:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:37:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:37:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:37:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:38:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:38:17 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:38:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:39:20 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:39:42 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/dresser/sim_chunks/chunk_059 [pipeline.py: 1174] +05/18 14:39:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_059 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:39:42 INFO: [Worker 0] Preparing episode data: 249 timesteps [save_utils.py: 278] +05/18 14:39:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:39:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_059 [save_utils.py: 785] +05/18 14:39:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_059 in 13.54s (batch: 4.47s, save: 9.06s) [pipeline.py: 300] +05/18 14:39:57 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=1.40s: + episode_total: mean=63.53s, total=190.60s, count=3, min=442.2ms, max=176199.9ms + sensor_polling: mean=498.6ms, total=123.65s, count=248, min=440.9ms, max=706.7ms + save_trajectories: mean=9.06s, total=9.06s, count=1, min=9063.4ms, max=9063.4ms + physics_step: mean=34.2ms, total=8.49s, count=248, min=28.6ms, max=50.5ms + save_batch_prep: mean=4.47s, total=4.47s, count=1, min=4472.8ms, max=4472.8ms + task_specific_sample: mean=603.9ms, total=1.81s, count=3, min=422.3ms, max=726.6ms + task_sampling: mean=699.5ms, total=1.40s, count=2, min=668.1ms, max=730.9ms + task_sampling_failed: mean=442.2ms, total=442.2ms, count=1, min=442.2ms, max=442.2ms + scene_randomize: mean=2.5ms, total=7.6ms, count=3, min=1.7ms, max=3.6ms + mj_forward_sync: mean=654.5us, total=2.0ms, count=3, min=0.6ms, max=0.7ms + policy_setup: mean=25.8us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:39:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:39:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:39:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:39:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:39:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:39:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:39:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:39:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:39:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:39:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:39:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141457m [env.py: 870] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:39:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44382767 -0.89352979 -0.14145708] yaw=-34.4deg [env.py: 1019] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.58141123 -0.90816079 -0.14145708] yaw=-46.9deg [env.py: 1019] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:39:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=382.3ms, total=382.4ms [env.py: 1075] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.444, -0.894, -0.141) [env.py: 1079] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.4 deg [env.py: 1082] +05/18 14:39:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.979m [env.py: 1086] +05/18 14:39:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:39:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:39:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:39:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:39:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:39:59 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/18 14:40:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.166s [base_object_manipulation_planner_policy.py: 377] +05/18 14:40:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:40:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:40:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.163s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:40:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.230s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:40:09 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.822[m] 101.676[deg] [grasp_sample.py: 596] +05/18 14:40:11 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:40:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:40:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:40:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:40:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:40:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:40:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:40:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110025m [env.py: 870] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:40:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 24.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 73.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.69014494 -0.7825551 -0.11002484] yaw=-89.1deg [env.py: 1019] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.6609567 -0.8718476 -0.11002484] yaw=-89.4deg [env.py: 1019] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:40:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=339.0ms, total=339.0ms [env.py: 1075] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.690, -0.783, -0.110) [env.py: 1079] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -89.1 deg [env.py: 1082] +05/18 14:40:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/18 14:40:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:40:14 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/18 14:40:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s [base_object_manipulation_planner_policy.py: 377] +05/18 14:40:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:40:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:40:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.166s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:40:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.476s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:40:24 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.628[m] 106.093[deg] [grasp_sample.py: 596] +05/18 14:40:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:40:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:40:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:40:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:41:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:41:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:41:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:42:52 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:42:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:42:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:42:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:42:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.243s, found 142 non-colliding grasps [grasp_sample.py: 520] +05/18 14:42:54 INFO: [Worker 0] Feasibility-checked 142 grasps in 1.043s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:42:54 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.044[m] 1.381[deg] [grasp_sample.py: 596] +05/18 14:42:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:42:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:42:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:43:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:43:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:43:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:43:17 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:43:43 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/dresser/sim_chunks/chunk_059 [pipeline.py: 1174] +05/18 14:43:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_059 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:43:43 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:43:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:43:59 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_059 [save_utils.py: 785] +05/18 14:43:59 INFO: [Worker 0] Successfully saved trajectory data for chunk_059 in 15.69s (batch: 5.05s, save: 10.64s) [pipeline.py: 300] +05/18 14:43:59 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=1.50s: + episode_total: mean=119.27s, total=238.54s, count=2, min=12111.2ms, max=226429.3ms + sensor_polling: mean=513.2ms, total=153.95s, count=300, min=460.4ms, max=672.5ms + physics_step: mean=39.7ms, total=11.91s, count=300, min=28.4ms, max=56.0ms + save_trajectories: mean=10.64s, total=10.64s, count=1, min=10643.9ms, max=10643.9ms + save_batch_prep: mean=5.05s, total=5.05s, count=1, min=5047.9ms, max=5047.9ms + task_sampling: mean=749.9ms, total=1.50s, count=2, min=709.1ms, max=790.8ms + task_specific_sample: mean=739.3ms, total=1.48s, count=2, min=695.1ms, max=783.5ms + scene_randomize: mean=3.9ms, total=7.9ms, count=2, min=2.5ms, max=5.4ms + mj_forward_sync: mean=738.9us, total=1.5ms, count=2, min=0.6ms, max=0.9ms + policy_setup: mean=24.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:44:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:44:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:44:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:44:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:44:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:44:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:44:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:44:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:44:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:44:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168939m [env.py: 870] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:44:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:44:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -179.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=264.7ms, total=264.8ms [env.py: 1105] +05/18 14:44:02 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:44:02 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:44:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:44:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:44:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:44:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:44:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:44:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:44:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:44:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:44:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187254m [env.py: 870] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:44:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -154.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07850004 -1.39085695 -0.18725386] yaw=3.7deg [env.py: 1019] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:44:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=246.3ms, total=246.4ms [env.py: 1075] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.079, -1.391, -0.187) [env.py: 1079] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 3.7 deg [env.py: 1082] +05/18 14:44:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/18 14:44:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:44:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:44:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:44:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:44:04 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/18 14:44:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.161s [base_object_manipulation_planner_policy.py: 377] +05/18 14:44:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:44:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:44:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:44:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.652s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:44:10 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.820[m] 106.910[deg] [grasp_sample.py: 596] +05/18 14:44:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:44:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:44:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:44:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:45:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:45:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:46:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:46:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:46:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:46:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.186s, found 364 non-colliding grasps [grasp_sample.py: 520] +05/18 14:46:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.940s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:46:19 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:46:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:46:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:46:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:46:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:46:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:46:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:46:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:46:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:46:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:46:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124245m [env.py: 870] +05/18 14:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:46:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 84.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -71.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -24.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=254.3ms, total=254.4ms [env.py: 1105] +05/18 14:46:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:46:21 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] +05/18 14:46:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:46:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:46:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:46:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:46:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:46:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:46:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:46:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185351m [env.py: 870] +05/18 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:46:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=208.9ms, total=209.0ms [env.py: 1105] +05/18 14:46:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:46:24 ERROR: [Worker 0] Worker 0 house 1 episode 70 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:46:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:46:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:46:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:46:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:46:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:46:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:46:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:46:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:46:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158088m [env.py: 870] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:46:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.32192811 -1.15746646 -0.15808833] yaw=-33.3deg [env.py: 1019] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.60788612 -0.85963499 -0.15808833] yaw=-60.0deg [env.py: 1019] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:46:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=203.4ms, total=203.4ms [env.py: 1075] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.322, -1.157, -0.158) [env.py: 1079] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.3 deg [env.py: 1082] +05/18 14:46:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/18 14:46:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:46:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:46:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:46:26 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/18 14:46:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s [base_object_manipulation_planner_policy.py: 377] +05/18 14:46:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:46:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:46:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:46:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.785s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:46:32 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.639[m] 85.198[deg] [grasp_sample.py: 596] +05/18 14:46:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:46:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:46:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:46:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:47:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:47:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:47:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:48:10 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:48:10 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:48:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:48:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:48:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.277s, found 89 non-colliding grasps [grasp_sample.py: 520] +05/18 14:48:11 INFO: [Worker 0] Feasibility-checked 89 grasps in 0.935s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:48:11 INFO: [Worker 0] Feasible grasp found 303 (originally 303): w/ 0.023[m] 2.159[deg] [grasp_sample.py: 596] +05/18 14:48:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:48:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:48:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:48:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:48:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:48:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:49:14 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:49:39 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/dresser/sim_chunks/chunk_059 [pipeline.py: 1174] +05/18 14:49:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_059 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:49:39 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:49:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:49:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_059 [save_utils.py: 785] +05/18 14:49:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_059 in 15.66s (batch: 4.35s, save: 11.31s) [pipeline.py: 300] +05/18 14:49:55 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=1.13s: + episode_total: mean=69.12s, total=345.59s, count=5, min=221.2ms, max=209758.1ms + sensor_polling: mean=485.7ms, total=236.56s, count=487, min=427.9ms, max=699.8ms + physics_step: mean=34.5ms, total=16.78s, count=487, min=23.1ms, max=47.8ms + save_trajectories: mean=11.31s, total=11.31s, count=1, min=11314.1ms, max=11314.1ms + save_batch_prep: mean=4.35s, total=4.35s, count=1, min=4345.2ms, max=4345.2ms + task_specific_sample: mean=373.9ms, total=1.87s, count=5, min=215.6ms, max=601.8ms + task_sampling: mean=563.9ms, total=1.13s, count=2, min=520.9ms, max=606.9ms + task_sampling_failed: mean=256.5ms, total=769.4ms, count=3, min=221.2ms, max=280.1ms + scene_randomize: mean=2.2ms, total=11.0ms, count=5, min=1.6ms, max=3.6ms + mj_forward_sync: mean=695.2us, total=3.5ms, count=5, min=0.6ms, max=0.8ms + policy_setup: mean=25.5us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:49:57 WARNING: [Worker 0] No trajectory data to save for chunk_059 [pipeline.py: 234] +05/18 14:49:57 WARNING: [Worker 0] No trajectory data to save for chunk_059 [pipeline.py: 234] +05/18 14:49:57 INFO: [Worker 0] Worker 0 completed house 1: 13/15 successful episodes [pipeline.py: 1323] +05/18 14:49:57 INFO: [Worker 0] [PROFILE] House 1 complete: 13/15 successful, 15 episodes, total_time=6663.41s + House averages: + episode_total: mean=54.25s, total=3905.99s, count=72, min=221.2ms, max=250108.3ms + sensor_polling: mean=497.6ms, total=2292.65s, count=4607, min=420.4ms, max=725.0ms + physics_step: mean=36.4ms, total=167.61s, count=4607, min=19.5ms, max=66.0ms + save_trajectories: mean=10.57s, total=137.47s, count=13, min=9063.4ms, max=11314.1ms + save_batch_prep: mean=4.77s, total=62.06s, count=13, min=3798.3ms, max=6412.6ms + task_specific_sample: mean=547.4ms, total=39.41s, count=72, min=215.6ms, max=804.7ms + task_sampling: mean=625.5ms, total=35.03s, count=56, min=493.5ms, max=812.0ms + task_sampling_failed: mean=640.3ms, total=10.25s, count=16, min=221.2ms, max=5757.8ms + scene_load: mean=5.46s, total=5.46s, count=1, min=5461.1ms, max=5461.1ms + scene_env_create: mean=3.58s, total=3.58s, count=1, min=3579.3ms, max=3579.3ms + scene_compile: mean=1.69s, total=1.69s, count=1, min=1694.2ms, max=1694.2ms + compile_mujoco: mean=1.32s, total=1.32s, count=1, min=1319.8ms, max=1319.8ms + compile_xml_load: mean=282.8ms, total=282.8ms, count=1, min=282.8ms, max=282.8ms + scene_randomize: mean=2.4ms, total=170.7ms, count=72, min=1.5ms, max=5.4ms + scene_init: mean=125.3ms, total=125.3ms, count=1, min=125.3ms, max=125.3ms + compile_aux_objects: mean=66.1ms, total=66.1ms, count=1, min=66.1ms, max=66.1ms + compile_aux_policy_objects: mean=66.1ms, total=66.1ms, count=1, min=66.1ms, max=66.1ms + scene_asset_install: mean=62.0ms, total=62.0ms, count=1, min=62.0ms, max=62.0ms + mj_forward_sync: mean=661.6us, total=47.6ms, count=72, min=0.5ms, max=1.0ms + asset_install_grasps: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms + asset_install_objects: mean=14.1ms, total=14.1ms, count=1, min=14.1ms, max=14.1ms + compile_robot_add: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=27.2us, total=1.5ms, count=56, 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] +05/18 14:49:57 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/18 14:49:57 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=6663.41s + Worker averages: + episode_total: mean=54.25s, total=3905.99s, count=72, min=221.2ms, max=250108.3ms + sensor_polling: mean=497.6ms, total=2292.65s, count=4607, min=420.4ms, max=725.0ms + physics_step: mean=36.4ms, total=167.61s, count=4607, min=19.5ms, max=66.0ms + save_trajectories: mean=10.57s, total=137.47s, count=13, min=9063.4ms, max=11314.1ms + save_batch_prep: mean=4.77s, total=62.06s, count=13, min=3798.3ms, max=6412.6ms + task_specific_sample: mean=547.4ms, total=39.41s, count=72, min=215.6ms, max=804.7ms + task_sampling: mean=625.5ms, total=35.03s, count=56, min=493.5ms, max=812.0ms + task_sampling_failed: mean=640.3ms, total=10.25s, count=16, min=221.2ms, max=5757.8ms + scene_load: mean=5.46s, total=5.46s, count=1, min=5461.1ms, max=5461.1ms + scene_env_create: mean=3.58s, total=3.58s, count=1, min=3579.3ms, max=3579.3ms + scene_compile: mean=1.69s, total=1.69s, count=1, min=1694.2ms, max=1694.2ms + compile_mujoco: mean=1.32s, total=1.32s, count=1, min=1319.8ms, max=1319.8ms + compile_xml_load: mean=282.8ms, total=282.8ms, count=1, min=282.8ms, max=282.8ms + scene_randomize: mean=2.4ms, total=170.7ms, count=72, min=1.5ms, max=5.4ms + scene_init: mean=125.3ms, total=125.3ms, count=1, min=125.3ms, max=125.3ms + compile_aux_objects: mean=66.1ms, total=66.1ms, count=1, min=66.1ms, max=66.1ms + compile_aux_policy_objects: mean=66.1ms, total=66.1ms, count=1, min=66.1ms, max=66.1ms + scene_asset_install: mean=62.0ms, total=62.0ms, count=1, min=62.0ms, max=62.0ms + mj_forward_sync: mean=661.6us, total=47.6ms, count=72, min=0.5ms, max=1.0ms + asset_install_grasps: mean=45.0ms, total=45.0ms, count=1, min=45.0ms, max=45.0ms + asset_install_objects: mean=14.1ms, total=14.1ms, count=1, min=14.1ms, max=14.1ms + compile_robot_add: mean=11.8ms, total=11.8ms, count=1, min=11.8ms, max=11.8ms + asset_install_scene: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + policy_setup: mean=27.2us, total=1.5ms, count=56, 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] +05/18 14:50:01 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/18 14:50:01 INFO: Success count: 13, Total count: 15 [pipeline.py: 1491] +05/18 14:50:01 INFO: Success rate: 86.67% [pipeline.py: 1492] diff --git a/dresser/sim/chunk_059/trajectories_batch_1_of_1_cam_rand.h5 b/dresser/sim/chunk_059/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1f406cc8e4b577a70b2be3314fab3e20e632ef1a --- /dev/null +++ b/dresser/sim/chunk_059/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21783976a9695448d47d922e5cd7e548a178b497594095e24e02877fec3bc22c +size 920378868