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+oid sha256:ffb81eda1ba6f1d8ec0c2c0c1169385cd8a0fdb701fed45cbc991f37606d3722 +size 491578 diff --git a/dresser/sim/chunk_045/experiment_config_20260518_134226.pkl b/dresser/sim/chunk_045/experiment_config_20260518_134226.pkl new file mode 100644 index 0000000000000000000000000000000000000000..23d79bc789e0f1a1d2c53644b9f9b1bb4924e6da --- /dev/null +++ b/dresser/sim/chunk_045/experiment_config_20260518_134226.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c8ab7255bccc9cac82fd85cb8ff4908cc419f5bdcd4a3246cf9486e93a0afd3 +size 8144 diff --git a/dresser/sim/chunk_045/running_log.log b/dresser/sim/chunk_045/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..10c2b3eee22a1d55608d4c332f461151f0d64c22 --- /dev/null +++ b/dresser/sim/chunk_045/running_log.log @@ -0,0 +1,4001 @@ +05/18 13:42:26 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/18 13:42:26 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/18 13:42:26 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 13:42:26 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/dresser/sim_chunks/chunk_045'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_dresser', + 'seed': 20045, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.6, 2.8), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 1, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/18 13:42:26 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 13:42:26 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 13:42:26 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 13:42:27 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 13:42:31 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/FloorPlan1_physics.xml [task_sampler.py: 797] +05/18 13:42:31 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 13:42:31 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 13:42:31 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 13:42:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:42:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:42:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:42:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:42:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165728m [env.py: 870] +05/18 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:42:31 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 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.55843735 -0.8250636 -0.16572788] yaw=-76.8deg [env.py: 1019] +05/18 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.12538742 -1.20326813 -0.16572788] yaw=-51.7deg [env.py: 1019] +05/18 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:42:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=25.4ms, retries=280.0ms, total=305.4ms [env.py: 1075] +05/18 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.558, -0.825, -0.166) [env.py: 1079] +05/18 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.8 deg [env.py: 1082] +05/18 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/18 13:42:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:42:32 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 13:43:09 INFO: [Worker 0] Warmed up parallel IK solver in 36.541s [base_object_manipulation_planner_policy.py: 377] +05/18 13:43:09 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 13:43:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:43:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.079s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:43:11 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.850[m] 86.804[deg] [grasp_sample.py: 596] +05/18 13:43:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:43:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:43:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:43:12 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 13:44:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:44:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:44:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:44:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:44:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:45:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.437s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:45:01 INFO: [Worker 0] Feasible grasp found 33 (originally 33): w/ 0.152[m] 15.764[deg] [grasp_sample.py: 596] +05/18 13:45:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:45:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:45:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:45:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:45:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:45:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:45:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:45:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.257s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:45:29 INFO: [Worker 0] Feasible grasp found 33 (originally 33): w/ 0.151[m] 14.652[deg] [grasp_sample.py: 596] +05/18 13:45:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:45:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:45:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:45:44 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 13:45:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:45:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 18.631s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:02 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.288[m] 23.701[deg] [grasp_sample.py: 596] +05/18 13:46:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:46:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:46:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:46:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:46:20 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 13:46:20 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 13:46:20 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=6.39s: + episode_total: mean=234.38s, total=234.38s, count=1, min=234383.1ms, max=234383.1ms + sensor_polling: mean=466.7ms, total=96.14s, count=206, min=437.8ms, max=556.4ms + task_sampling: mean=6.39s, total=6.39s, count=1, min=6388.7ms, max=6388.7ms + physics_step: mean=29.9ms, total=6.15s, count=206, min=21.8ms, max=34.9ms + scene_load: mean=5.75s, total=5.75s, count=1, min=5749.5ms, max=5749.5ms + scene_env_create: mean=3.64s, total=3.64s, count=1, min=3639.9ms, max=3639.9ms + scene_compile: mean=1.59s, total=1.59s, count=1, min=1585.0ms, max=1585.0ms + compile_mujoco: mean=979.5ms, total=979.5ms, count=1, min=979.5ms, max=979.5ms + task_specific_sample: mean=635.4ms, total=635.4ms, count=1, min=635.4ms, max=635.4ms + compile_xml_load: mean=508.5ms, total=508.5ms, count=1, min=508.5ms, max=508.5ms + scene_asset_install: mean=368.2ms, total=368.2ms, count=1, min=368.2ms, max=368.2ms + asset_install_grasps: mean=195.9ms, total=195.9ms, count=1, min=195.9ms, max=195.9ms + asset_install_objects: mean=168.6ms, total=168.6ms, count=1, min=168.6ms, max=168.6ms + scene_init: mean=156.1ms, total=156.1ms, count=1, min=156.1ms, max=156.1ms + compile_aux_objects: mean=76.5ms, total=76.5ms, count=1, min=76.5ms, max=76.5ms + compile_aux_policy_objects: mean=76.5ms, total=76.5ms, count=1, min=76.5ms, max=76.5ms + compile_robot_add: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=730.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=26.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:46:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:46:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102052m [env.py: 870] +05/18 13:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 83.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -51.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=236.6ms, total=236.7ms [env.py: 1105] +05/18 13:46:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:46:22 ERROR: [Worker 0] Worker 0 house 1 episode 1 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:46:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:46:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129748m [env.py: 870] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40020659 -1.00686778 -0.12974789] yaw=-71.3deg [env.py: 1019] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32996757 -0.8474572 -0.12974789] yaw=-50.9deg [env.py: 1019] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.53156191 -0.93557993 -0.12974789] yaw=-46.1deg [env.py: 1019] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=153.5ms, total=153.6ms [env.py: 1075] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.400, -1.007, -0.130) [env.py: 1079] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.3 deg [env.py: 1082] +05/18 13:46:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/18 13:46:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:25 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:46:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.576s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:41 INFO: [Worker 0] Feasible grasp found 425 (originally 118): w/ 0.893[m] 77.737[deg] [grasp_sample.py: 596] +05/18 13:46:43 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:46:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:46:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160340m [env.py: 870] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15640921 -1.01719479 -0.16034002] yaw=-57.6deg [env.py: 1019] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.1991631 -1.09922586 -0.16034002] yaw=-25.3deg [env.py: 1019] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=222.8ms, total=222.9ms [env.py: 1075] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.156, -1.017, -0.160) [env.py: 1079] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/18 13:46:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m [env.py: 1086] +05/18 13:46:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:45 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:46:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.907s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:46:50 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:46:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:46:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188732m [env.py: 870] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.87717211 -0.85508392 -0.18873159] yaw=-98.4deg [env.py: 1019] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22149044 -0.92772284 -0.18873159] yaw=-50.4deg [env.py: 1019] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.20589955 -0.96278528 -0.18873159] yaw=-52.8deg [env.py: 1019] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=251.8ms, total=251.8ms [env.py: 1075] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.877, -0.855, -0.189) [env.py: 1079] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.4 deg [env.py: 1082] +05/18 13:46:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/18 13:46:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:53 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:46:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.493s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:55 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.640[m] 66.076[deg] [grasp_sample.py: 596] +05/18 13:46:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:46:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:46:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:47:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:47:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:47:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.638s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:23 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.566[m] 56.808[deg] [grasp_sample.py: 596] +05/18 13:47:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:47:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:47:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:47:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:47:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:47:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:47:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.619s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:43 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.566[m] 56.806[deg] [grasp_sample.py: 596] +05/18 13:47:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:47:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:47:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:47:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:47:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:47:59 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 13:47:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:48:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:48:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.402s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:48:02 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.566[m] 56.806[deg] [grasp_sample.py: 596] +05/18 13:48:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:48:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:48:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:48:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:19 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:48:19 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 13:48:20 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 13:48:20 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=False episode_total=1.56s: + episode_total: mean=28.11s, total=112.45s, count=4, min=249.3ms, max=87581.3ms + sensor_polling: mean=466.7ms, total=24.73s, count=53, min=429.9ms, max=542.4ms + task_specific_sample: mean=447.6ms, total=1.79s, count=4, min=243.8ms, max=562.2ms + task_sampling: mean=518.8ms, total=1.56s, count=3, min=464.9ms, max=565.3ms + physics_step: mean=25.3ms, total=1.34s, count=53, min=19.8ms, max=38.7ms + task_sampling_failed: mean=249.2ms, total=249.2ms, count=1, min=249.2ms, max=249.2ms + scene_randomize: mean=1.6ms, total=6.4ms, count=4, min=1.5ms, max=1.8ms + mj_forward_sync: mean=608.5us, total=2.4ms, count=4, min=0.6ms, max=0.7ms + policy_setup: mean=23.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:48:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:48:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:48:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:48:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:48:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:48:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:48:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182404m [env.py: 870] +05/18 13:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:48:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:48:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -136.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39312853 -0.93901257 -0.18240446] yaw=-45.2deg [env.py: 1019] +05/18 13:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:48:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=252.7ms, total=252.7ms [env.py: 1075] +05/18 13:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.393, -0.939, -0.182) [env.py: 1079] +05/18 13:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.2 deg [env.py: 1082] +05/18 13:48:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/18 13:48:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:48:22 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 13:48:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 13:48:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:48:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:48:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:48:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 20.634s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:48:43 INFO: [Worker 0] Feasible grasp found 535 (originally 228): w/ 0.739[m] 101.513[deg] [grasp_sample.py: 596] +05/18 13:48:45 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:48:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:48:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:48:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:48:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:48:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:48:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:48:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167876m [env.py: 870] +05/18 13:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:48:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 59.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 91.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=243.9ms, total=243.9ms [env.py: 1105] +05/18 13:48:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:48:47 ERROR: [Worker 0] Worker 0 house 1 episode 6 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:48:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:48:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:48:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:48:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:48:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:48:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:48:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131288m [env.py: 870] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:48:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -178.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 174.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -92.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.29337797 -1.11045048 -0.13128823] yaw=-42.1deg [env.py: 1019] +05/18 13:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:48:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=251.7ms, total=251.7ms [env.py: 1075] +05/18 13:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.293, -1.110, -0.131) [env.py: 1079] +05/18 13:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.1 deg [env.py: 1082] +05/18 13:48:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/18 13:48:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:48:49 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 13:48:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/18 13:48:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:48:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:48:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:48:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.561s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:48:58 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.855[m] 76.449[deg] [grasp_sample.py: 596] +05/18 13:48:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:48:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:48:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:48:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:50:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:50:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:50:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:51:32 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:51:55 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/dresser/sim_chunks/chunk_045 [pipeline.py: 1174] +05/18 13:51:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_045 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:51:55 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 13:52:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:52:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_045 [save_utils.py: 785] +05/18 13:52:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_045 in 14.33s (batch: 3.74s, save: 10.60s) [pipeline.py: 300] +05/18 13:52:10 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.16s: + episode_total: mean=74.91s, total=224.73s, count=3, min=255.7ms, max=201341.0ms + sensor_polling: mean=466.9ms, total=140.07s, count=300, min=428.7ms, max=541.1ms + save_trajectories: mean=10.60s, total=10.60s, count=1, min=10595.7ms, max=10595.7ms + physics_step: mean=30.4ms, total=9.13s, count=300, min=25.0ms, max=35.5ms + save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3735.3ms, max=3735.3ms + task_specific_sample: mean=468.2ms, total=1.40s, count=3, min=250.6ms, max=582.7ms + task_sampling: mean=580.3ms, total=1.16s, count=2, min=574.5ms, max=586.2ms + task_sampling_failed: mean=255.7ms, total=255.7ms, count=1, min=255.7ms, max=255.7ms + scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.5ms, max=1.8ms + mj_forward_sync: mean=669.9us, total=2.0ms, count=3, min=0.6ms, max=0.7ms + policy_setup: mean=18.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:52:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:11 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 13:52:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125879m [env.py: 870] +05/18 13:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -50.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 6.65896470e-04 -1.23425864e+00 -1.25878548e-01] yaw=-22.5deg [env.py: 1019] +05/18 13:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -164.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.34990182 -0.87470325 -0.12587855] yaw=-49.1deg [env.py: 1019] +05/18 13:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.8ms, total=239.8ms [env.py: 1075] +05/18 13:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.001, -1.234, -0.126) [env.py: 1079] +05/18 13:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -22.5 deg [env.py: 1082] +05/18 13:52:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/18 13:52:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:12 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.988s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:52:17 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:52:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:19 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 13:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135131m [env.py: 870] +05/18 13:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22149472 -1.02413718 -0.13513142] yaw=-44.3deg [env.py: 1019] +05/18 13:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=223.8ms, total=223.8ms [env.py: 1075] +05/18 13:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.221, -1.024, -0.135) [env.py: 1079] +05/18 13:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.3 deg [env.py: 1082] +05/18 13:52:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.015m [env.py: 1086] +05/18 13:52:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:19 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.362s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:52:28 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:52:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:30 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 13:52:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:30 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 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121843m [env.py: 870] +05/18 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -52.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 174.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.48985454 -0.86121305 -0.12184305] yaw=-73.0deg [env.py: 1019] +05/18 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=250.8ms, total=250.8ms [env.py: 1075] +05/18 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.490, -0.861, -0.122) [env.py: 1079] +05/18 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.0 deg [env.py: 1082] +05/18 13:52:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/18 13:52:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:30 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:30 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 13:52:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.026s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:36 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.807[m] 95.539[deg] [grasp_sample.py: 596] +05/18 13:52:37 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:52:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:39 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170184m [env.py: 870] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 11.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 14.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.06649619 -1.40728687 -0.17018414] yaw=-23.5deg [env.py: 1019] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=220.7ms, total=220.7ms [env.py: 1075] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.066, -1.407, -0.170) [env.py: 1079] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.5 deg [env.py: 1082] +05/18 13:52:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/18 13:52:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:40 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.458s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:52:45 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:52:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190841m [env.py: 870] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 33.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -103.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.14783479 -1.40554106 -0.19084113] yaw=-7.6deg [env.py: 1019] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=240.2ms, total=240.3ms [env.py: 1075] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.148, -1.406, -0.191) [env.py: 1079] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -7.6 deg [env.py: 1082] +05/18 13:52:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/18 13:52:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:48 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.804s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:50 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.679[m] 72.000[deg] [grasp_sample.py: 596] +05/18 13:52:51 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:52:51 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/18 13:52:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:53 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 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190453m [env.py: 870] +05/18 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 36.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02613302 -1.29102969 -0.19045343] yaw=-37.3deg [env.py: 1019] +05/18 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -90.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 86.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=214.9ms, total=214.9ms [env.py: 1075] +05/18 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.026, -1.291, -0.190) [env.py: 1079] +05/18 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.3 deg [env.py: 1082] +05/18 13:52:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/18 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:54 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.878s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:52:59 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:53:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:53:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:53:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:53:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:53:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:53:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:53:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:53:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:53:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:53:00 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 13:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184853m [env.py: 870] +05/18 13:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:53:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:53:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -128.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 165.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36285097 -1.06756348 -0.18485267] yaw=-57.8deg [env.py: 1019] +05/18 13:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.5371556 -1.01512634 -0.18485267] yaw=-64.2deg [env.py: 1019] +05/18 13:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:53:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.6ms, total=232.6ms [env.py: 1075] +05/18 13:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.363, -1.068, -0.185) [env.py: 1079] +05/18 13:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.8 deg [env.py: 1082] +05/18 13:53:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/18 13:53:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:53:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:53:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:53:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:53:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:53:01 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 13:53:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 13:53:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:53:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:53:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:53:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 28.893s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:53:30 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.568[m] 115.413[deg] [grasp_sample.py: 596] +05/18 13:53:32 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:53:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:53:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:53:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:53:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:53:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:53:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:53:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:53:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:53:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:53:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:53:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133746m [env.py: 870] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:53:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.17264636 -1.26785693 -0.1337461 ] yaw=-59.0deg [env.py: 1019] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:53:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=249.1ms, total=249.1ms [env.py: 1075] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.173, -1.268, -0.134) [env.py: 1079] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.0 deg [env.py: 1082] +05/18 13:53:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m [env.py: 1086] +05/18 13:53:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:53:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:53:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:53:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:53:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:53:34 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 13:53:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 13:53:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:53:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:53:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:53:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.960s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:53:39 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.704[m] 88.290[deg] [grasp_sample.py: 596] +05/18 13:53:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:53:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:53:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:53:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:54:47 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:55:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:56:01 INFO: [Worker 0] Worker 0 house 1 episode 15 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:56:21 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/dresser/sim_chunks/chunk_045 [pipeline.py: 1174] +05/18 13:56:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_045 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:56:21 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/18 13:56:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:56:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_045 [save_utils.py: 785] +05/18 13:56:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_045 in 13.33s (batch: 3.57s, save: 9.77s) [pipeline.py: 300] +05/18 13:56:35 INFO: [Worker 0] [PROFILE] Episode 15 house 1 success=True episode_total=4.36s: + episode_total: mean=31.38s, total=251.02s, count=8, min=4338.1ms, max=180983.2ms + sensor_polling: mean=477.3ms, total=129.84s, count=272, min=444.3ms, max=589.8ms + save_trajectories: mean=9.77s, total=9.77s, count=1, min=9765.7ms, max=9765.7ms + physics_step: mean=31.1ms, total=8.46s, count=272, min=23.6ms, max=37.2ms + task_sampling: mean=545.5ms, total=4.36s, count=8, min=510.6ms, max=580.9ms + task_specific_sample: mean=542.2ms, total=4.34s, count=8, min=507.7ms, max=577.6ms + save_batch_prep: mean=3.57s, total=3.57s, count=1, min=3565.5ms, max=3565.5ms + scene_randomize: mean=1.8ms, total=14.1ms, count=8, min=1.5ms, max=2.6ms + mj_forward_sync: mean=585.7us, total=4.7ms, count=8, min=0.6ms, max=0.6ms + policy_setup: mean=17.0us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:56:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:56:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166130m [env.py: 870] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42288373 -1.00637955 -0.16612955] yaw=-57.5deg [env.py: 1019] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53387157 -0.80487106 -0.16612955] yaw=-55.7deg [env.py: 1019] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -27.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:56:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=258.3ms, total=258.3ms [env.py: 1075] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.423, -1.006, -0.166) [env.py: 1079] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg [env.py: 1082] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/18 13:56:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:56:37 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 13:56:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s [base_object_manipulation_planner_policy.py: 377] +05/18 13:56:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:56:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.356s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:56:44 INFO: [Worker 0] Feasible grasp found 205 (originally 205): w/ 0.564[m] 105.437[deg] [grasp_sample.py: 596] +05/18 13:56:46 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:56:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:56:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:48 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 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183193m [env.py: 870] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07922298 -1.4136621 -0.18319263] yaw=-2.9deg [env.py: 1019] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:56:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.0ms, total=236.1ms [env.py: 1075] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.079, -1.414, -0.183) [env.py: 1079] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -2.9 deg [env.py: 1082] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m [env.py: 1086] +05/18 13:56:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:56:48 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 13:56:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/18 13:56:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:56:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:57:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 18.803s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:57:08 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:57:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:57:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:57:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:57:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:57:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:57:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:57:09 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 13:57:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:57:09 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 13:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147374m [env.py: 870] +05/18 13:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:57:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46905319 -1.00906919 -0.14737421] yaw=-43.8deg [env.py: 1019] +05/18 13:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -10.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:57:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=239.4ms, total=239.5ms [env.py: 1075] +05/18 13:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.469, -1.009, -0.147) [env.py: 1079] +05/18 13:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.8 deg [env.py: 1082] +05/18 13:57:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/18 13:57:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:57:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:57:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:57:10 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 13:57:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.132s [base_object_manipulation_planner_policy.py: 377] +05/18 13:57:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:57:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:57:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:57:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.569s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:57:16 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.622[m] 97.282[deg] [grasp_sample.py: 596] +05/18 13:57:17 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:57:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:57:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:57:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:57:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:57:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:57:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:57:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:57:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:57:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103271m [env.py: 870] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:57:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.4814134 -0.92714734 -0.10327145] yaw=-53.3deg [env.py: 1019] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.34907612 -0.92178996 -0.10327145] yaw=-56.2deg [env.py: 1019] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22375493 -1.18136036 -0.10327145] yaw=-23.1deg [env.py: 1019] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:57:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=142.0ms, total=142.0ms [env.py: 1075] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.481, -0.927, -0.103) [env.py: 1079] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.3 deg [env.py: 1082] +05/18 13:57:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/18 13:57:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:57:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:57:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:57:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:57:19 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 13:57:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 13:57:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:57:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:57:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:57:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.458s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:57:27 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.696[m] 100.461[deg] [grasp_sample.py: 596] +05/18 13:57:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:57:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:57:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:57:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:58:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:58:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:58:52 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 13:58:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:58:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:58:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.904s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:58:59 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.109[m] 12.729[deg] [grasp_sample.py: 596] +05/18 13:59:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:59:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:59:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:59:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:59:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:59:08 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 13:59:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.277s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:59:14 INFO: [Worker 0] Feasible grasp found 8 (originally 8): w/ 0.180[m] 16.093[deg] [grasp_sample.py: 596] +05/18 13:59:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:59:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:59:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:59:22 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:59:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:59:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.245s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:59:29 INFO: [Worker 0] Feasible grasp found 168 (originally 168): w/ 0.216[m] 12.392[deg] [grasp_sample.py: 596] +05/18 13:59:31 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:59:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:59:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136963m [env.py: 870] +05/18 13:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=221.8ms, total=221.9ms [env.py: 1105] +05/18 13:59:33 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:59:33 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:59:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:59:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:35 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 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184937m [env.py: 870] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -137.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39691405 -0.92512253 -0.1849365 ] yaw=-77.9deg [env.py: 1019] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.51938029 -1.02130745 -0.1849365 ] yaw=-62.5deg [env.py: 1019] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.2ms, total=235.2ms [env.py: 1075] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.397, -0.925, -0.185) [env.py: 1079] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.9 deg [env.py: 1082] +05/18 13:59:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/18 13:59:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:35 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:59:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.482s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:59:46 INFO: [Worker 0] Feasible grasp found 318 (originally 11): w/ 1.054[m] 77.423[deg] [grasp_sample.py: 596] +05/18 13:59:48 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:59:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:49 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 13:59:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133708m [env.py: 870] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.79195478 -0.68331195 -0.13370758] yaw=-77.3deg [env.py: 1019] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 180.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 1.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.60744449 -0.78354618 -0.13370758] yaw=-96.2deg [env.py: 1019] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.5ms, total=226.6ms [env.py: 1075] +05/18 13:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.792, -0.683, -0.134) [env.py: 1079] +05/18 13:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.3 deg [env.py: 1082] +05/18 13:59:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/18 13:59:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:50 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:59:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.529s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:59:56 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:59:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:59:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:57 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 13:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179514m [env.py: 870] +05/18 13:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -171.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -84.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -161.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37657995 -0.81827722 -0.17951371] yaw=-77.7deg [env.py: 1019] +05/18 13:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27892362 -1.23924839 -0.17951371] yaw=-10.2deg [env.py: 1019] +05/18 13:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=240.5ms, total=240.5ms [env.py: 1075] +05/18 13:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.377, -0.818, -0.180) [env.py: 1079] +05/18 13:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.7 deg [env.py: 1082] +05/18 13:59:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/18 13:59:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:58 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:59:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.437s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:00:04 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:00:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:00:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:00:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:00:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:00:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:00:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:00:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174717m [env.py: 870] +05/18 14:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:00:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 171.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -171.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.69783661 -0.6734775 -0.17471731] yaw=-52.6deg [env.py: 1019] +05/18 14:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:00:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=248.2ms, total=248.2ms [env.py: 1075] +05/18 14:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.698, -0.673, -0.175) [env.py: 1079] +05/18 14:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.6 deg [env.py: 1082] +05/18 14:00:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/18 14:00:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:00:06 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 14:00:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 14:00:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:00:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.461s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:00:12 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:00:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:00:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:00:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:00:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:00:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:00:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:00:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196540m [env.py: 870] +05/18 14:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:00:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5782632 -1.00739387 -0.19653965] yaw=-41.8deg [env.py: 1019] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -143.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23958265 -1.09615456 -0.19653965] yaw=-48.9deg [env.py: 1019] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.89028364 -0.90173092 -0.19653965] yaw=-95.7deg [env.py: 1019] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:00:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=260.7ms, total=260.8ms [env.py: 1075] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.578, -1.007, -0.197) [env.py: 1079] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.8 deg [env.py: 1082] +05/18 14:00:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/18 14:00:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:00:14 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 14:00:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 14:00:14 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 14:00:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.158s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.728s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:00:17 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.785[m] 76.876[deg] [grasp_sample.py: 596] +05/18 14:00:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:00:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:00:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:01:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:01:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:01:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:01:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.056s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:01:04 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.550[m] 50.102[deg] [grasp_sample.py: 596] +05/18 14:01:06 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:01:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:01:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:01:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:01:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:01:07 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 14:01:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:01:07 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 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129132m [env.py: 870] +05/18 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:01:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28481629 -0.89903425 -0.12913218] yaw=-70.4deg [env.py: 1019] +05/18 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.04930663 -1.33771763 -0.12913218] yaw=0.6deg [env.py: 1019] +05/18 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -144.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -133.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:01:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=257.2ms, total=257.2ms [env.py: 1075] +05/18 14:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.285, -0.899, -0.129) [env.py: 1079] +05/18 14:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.4 deg [env.py: 1082] +05/18 14:01:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/18 14:01:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:01:08 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 14:01:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/18 14:01:08 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 14:01:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:01:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.565s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:01:14 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:01:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:01:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:01:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:01:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:01:15 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 14:01:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:01:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139849m [env.py: 870] +05/18 14:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:01:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:01:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33270701 -1.09471919 -0.13984884] yaw=-24.2deg [env.py: 1019] +05/18 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -27.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.51816132 -0.72342163 -0.13984884] yaw=-79.1deg [env.py: 1019] +05/18 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47569886 -0.92009373 -0.13984884] yaw=-60.2deg [env.py: 1019] +05/18 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:01:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.2ms, total=259.2ms [env.py: 1075] +05/18 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.333, -1.095, -0.140) [env.py: 1079] +05/18 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.2 deg [env.py: 1082] +05/18 14:01:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/18 14:01:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:01:16 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 14:01:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/18 14:01:16 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 14:01:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:01:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.590s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:01:22 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.607[m] 105.404[deg] [grasp_sample.py: 596] +05/18 14:01:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:01:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:01:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:01:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:02:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:36 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:02:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:03:39 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:03:58 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/dresser/sim_chunks/chunk_045 [pipeline.py: 1174] +05/18 14:03:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_045 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:03:58 INFO: [Worker 0] Preparing episode data: 262 timesteps [save_utils.py: 278] +05/18 14:04:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:04:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_045 [save_utils.py: 785] +05/18 14:04:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_045 in 12.57s (batch: 3.60s, save: 8.96s) [pipeline.py: 300] +05/18 14:04:12 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=6.06s: + episode_total: mean=36.34s, total=436.08s, count=12, min=232.9ms, max=176108.1ms + sensor_polling: mean=476.4ms, total=230.60s, count=484, min=434.6ms, max=579.8ms + physics_step: mean=31.7ms, total=15.34s, count=484, min=23.6ms, max=40.2ms + save_trajectories: mean=8.96s, total=8.96s, count=1, min=8964.8ms, max=8964.8ms + task_specific_sample: mean=520.9ms, total=6.25s, count=12, min=227.8ms, max=588.3ms + task_sampling: mean=550.8ms, total=6.06s, count=11, min=452.6ms, max=592.2ms + save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3601.5ms, max=3601.5ms + task_sampling_failed: mean=232.9ms, total=232.9ms, count=1, min=232.9ms, max=232.9ms + scene_randomize: mean=1.7ms, total=20.4ms, count=12, min=1.4ms, max=2.5ms + mj_forward_sync: mean=573.9us, total=6.9ms, count=12, min=0.5ms, max=0.7ms + policy_setup: mean=16.0us, total=0.2ms, count=11, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:04:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:13 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 14:04:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100115m [env.py: 870] +05/18 14:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.90071577 -0.84564347 -0.10011521] yaw=-95.7deg [env.py: 1019] +05/18 14:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.23980643 -1.29077986 -0.10011521] yaw=-8.1deg [env.py: 1019] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:04:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=261.2ms, total=261.2ms [env.py: 1075] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.901, -0.846, -0.100) [env.py: 1079] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.7 deg [env.py: 1082] +05/18 14:04:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.887m [env.py: 1086] +05/18 14:04:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:04:14 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 14:04:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s [base_object_manipulation_planner_policy.py: 377] +05/18 14:04:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:04:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.156s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.035s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:04:16 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.711[m] 117.574[deg] [grasp_sample.py: 596] +05/18 14:04:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:04:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:04:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:04:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:04:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:04:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:04:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:04:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.813s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:04:48 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.640[m] 99.957[deg] [grasp_sample.py: 596] +05/18 14:04:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:04:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:04:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:04:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:04:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:05:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:05:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:05:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:05:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:05:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.533s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:05:08 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.637[m] 99.208[deg] [grasp_sample.py: 596] +05/18 14:05:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:05:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:05:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:05:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:05:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:05:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:05:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:05:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:05:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.411s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:05:28 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.637[m] 99.208[deg] [grasp_sample.py: 596] +05/18 14:05:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:05:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:05:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:05:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:05:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:05:45 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:05:45 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:05:45 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=False episode_total=0.60s: + episode_total: mean=92.17s, total=92.17s, count=1, min=92166.0ms, max=92166.0ms + sensor_polling: mean=473.3ms, total=28.40s, count=60, min=444.2ms, max=539.5ms + physics_step: mean=27.4ms, total=1.64s, count=60, min=19.6ms, max=32.7ms + task_sampling: mean=596.4ms, total=596.4ms, count=1, min=596.4ms, max=596.4ms + task_specific_sample: mean=592.0ms, total=592.0ms, count=1, min=592.0ms, max=592.0ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=577.5us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=19.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:05:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:05:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:05:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:05:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:05:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:05:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:05:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:05:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:05:47 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 14:05:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:05:47 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 14:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109354m [env.py: 870] +05/18 14:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:05:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=236.0ms, total=236.0ms [env.py: 1105] +05/18 14:05:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:05:47 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:05:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:05:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:05:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:05:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:05:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:05:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:05:49 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 14:05:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:05:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145075m [env.py: 870] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:05:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -46.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.1481398 -1.40586515 -0.1450751 ] yaw=-4.1deg [env.py: 1019] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.20187526 -1.39902199 -0.1450751 ] yaw=-5.0deg [env.py: 1019] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.25421933 -1.09592565 -0.1450751 ] yaw=-61.1deg [env.py: 1019] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:05:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=255.7ms, total=255.7ms [env.py: 1075] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.148, -1.406, -0.145) [env.py: 1079] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -4.1 deg [env.py: 1082] +05/18 14:05:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/18 14:05:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:05:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:05:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:05:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:05:50 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 14:05:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/18 14:05:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:05:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:05:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.153s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:06:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.362s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:06:07 INFO: [Worker 0] Feasible grasp found 253 (originally 253): w/ 0.725[m] 103.666[deg] [grasp_sample.py: 596] +05/18 14:06:09 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:06:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:06:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:06:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:06:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:06:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:06:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:06:11 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 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107681m [env.py: 870] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:06:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17502112 -1.38363737 -0.10768067] yaw=-24.4deg [env.py: 1019] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -131.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.73719778 -0.91468231 -0.10768067] yaw=-98.2deg [env.py: 1019] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:06:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=234.3ms, total=234.3ms [env.py: 1075] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.175, -1.384, -0.108) [env.py: 1079] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.4 deg [env.py: 1082] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/18 14:06:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:06:12 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 14:06:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 14:06:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:06:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:06:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:06:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.549s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:06:20 INFO: [Worker 0] Feasible grasp found 80 (originally 80): w/ 0.616[m] 71.522[deg] [grasp_sample.py: 596] +05/18 14:06:22 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:06:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:06:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:06:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:06:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:06:24 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 14:06:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:06:24 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 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164358m [env.py: 870] +05/18 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:06:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17825002 -1.19657962 -0.16435825] yaw=-34.8deg [env.py: 1019] +05/18 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.71100434 -0.82803171 -0.16435825] yaw=-53.8deg [env.py: 1019] +05/18 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:06:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.2ms, total=236.3ms [env.py: 1075] +05/18 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.178, -1.197, -0.164) [env.py: 1079] +05/18 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.8 deg [env.py: 1082] +05/18 14:06:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.939m [env.py: 1086] +05/18 14:06:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:06:24 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 14:06:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/18 14:06:24 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 14:06:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:06:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:06:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.646s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:06:30 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.746[m] 85.383[deg] [grasp_sample.py: 596] +05/18 14:06:32 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:06:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:06:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:06:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:06:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:06:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:06:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:06:33 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 14:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153386m [env.py: 870] +05/18 14:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:06:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.81961341 -0.82694286 -0.15338624] yaw=-82.9deg [env.py: 1019] +05/18 14:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -94.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -122.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:06:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=225.2ms, total=225.2ms [env.py: 1075] +05/18 14:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.820, -0.827, -0.153) [env.py: 1079] +05/18 14:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.9 deg [env.py: 1082] +05/18 14:06:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/18 14:06:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:06:34 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 14:06:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 14:06:34 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 14:06:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:06:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:06:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.447s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:06:38 INFO: [Worker 0] Feasible grasp found 551 (originally 244): w/ 0.765[m] 108.478[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 14:06:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:06:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:06:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:06:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:06:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:07:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:07:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:07:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:07:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:07:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:07:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:07:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:07:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:07:11 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 14:07:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:07:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.122s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:07:13 INFO: [Worker 0] Feasible grasp found 551 (originally 244): w/ 0.659[m] 87.598[deg] [grasp_sample.py: 596] +05/18 14:07:15 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:07:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:16 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 14:07:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156142m [env.py: 870] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.25358125 -1.19547647 -0.15614155] yaw=-15.9deg [env.py: 1019] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.40594129 -0.9762334 -0.15614155] yaw=-59.2deg [env.py: 1019] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:07:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=246.9ms, total=247.0ms [env.py: 1075] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.254, -1.195, -0.156) [env.py: 1079] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.9 deg [env.py: 1082] +05/18 14:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.879m [env.py: 1086] +05/18 14:07:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:07:17 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 14:07:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/18 14:07:17 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 14:07:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:07:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.518s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:07:30 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.691[m] 110.332[deg] [grasp_sample.py: 596] +05/18 14:07:31 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:07:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:07:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:33 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 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127067m [env.py: 870] +05/18 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.03828343 -1.25707674 -0.12706716] yaw=0.8deg [env.py: 1019] +05/18 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:07:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=258.5ms, total=258.6ms [env.py: 1075] +05/18 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.038, -1.257, -0.127) [env.py: 1079] +05/18 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 0.8 deg [env.py: 1082] +05/18 14:07:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/18 14:07:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:07:34 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 14:07:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:07:34 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 14:07:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:07:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.428s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:07:39 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:07:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:41 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 14:07:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:41 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 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192391m [env.py: 870] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3799101 -0.86074551 -0.19239058] yaw=-46.5deg [env.py: 1019] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.1481438 -1.32743727 -0.19239058] yaw=-32.3deg [env.py: 1019] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.78935383 -0.81119913 -0.19239058] yaw=-91.2deg [env.py: 1019] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:07:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.3ms, total=149.4ms [env.py: 1075] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.380, -0.861, -0.192) [env.py: 1079] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.5 deg [env.py: 1082] +05/18 14:07:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/18 14:07:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:07:41 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 14:07:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 14:07:42 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 14:07:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:07:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.675s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:07:52 INFO: [Worker 0] Feasible grasp found 94 (originally 94): w/ 0.885[m] 99.595[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 14:07:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:07:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:07:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:09:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:09:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:09:39 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:27 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:10:50 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/dresser/sim_chunks/chunk_045 [pipeline.py: 1174] +05/18 14:10:50 INFO: [Worker 0] Batching and saving trajectory data for chunk_045 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:10:50 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:11:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:11:05 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_045 [save_utils.py: 785] +05/18 14:11:05 INFO: [Worker 0] Successfully saved trajectory data for chunk_045 in 14.35s (batch: 3.87s, save: 10.47s) [pipeline.py: 300] +05/18 14:11:05 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=3.82s: + episode_total: mean=38.26s, total=306.09s, count=8, min=248.3ms, max=204145.7ms + sensor_polling: mean=471.3ms, total=159.76s, count=339, min=436.4ms, max=584.5ms + physics_step: mean=32.0ms, total=10.84s, count=339, min=21.6ms, max=44.7ms + save_trajectories: mean=10.47s, total=10.47s, count=1, min=10472.7ms, max=10472.7ms + task_specific_sample: mean=505.0ms, total=4.04s, count=8, min=242.1ms, max=588.8ms + save_batch_prep: mean=3.87s, total=3.87s, count=1, min=3873.2ms, max=3873.2ms + task_sampling: mean=545.8ms, total=3.82s, count=7, min=468.2ms, max=592.5ms + task_sampling_failed: mean=248.3ms, total=248.3ms, count=1, min=248.3ms, max=248.3ms + scene_randomize: mean=1.6ms, total=13.1ms, count=8, min=1.4ms, max=2.1ms + mj_forward_sync: mean=579.2us, total=4.6ms, count=8, min=0.5ms, max=0.7ms + policy_setup: mean=15.3us, total=0.1ms, 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 14:11:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106100m [env.py: 870] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.6046244 -0.68958885 -0.10610046] yaw=-68.5deg [env.py: 1019] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.8967279 -0.86161871 -0.10610046] yaw=-84.9deg [env.py: 1019] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -148.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 81.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=261.5ms, total=261.6ms [env.py: 1075] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.605, -0.690, -0.106) [env.py: 1079] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg [env.py: 1082] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:08 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:08 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 14:11:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.415s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:11:13 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:11:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:15 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 14:11:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113740m [env.py: 870] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -49.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 61.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -53.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=237.1ms, total=237.2ms [env.py: 1105] +05/18 14:11:15 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:11:15 ERROR: [Worker 0] Worker 0 house 1 episode 38 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:11:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113181m [env.py: 870] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.71266533 -0.89829292 -0.11318066] yaw=-72.9deg [env.py: 1019] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -47.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -56.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30936426 -0.8676414 -0.11318066] yaw=-43.5deg [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=0.1ms, retries=246.6ms, total=246.7ms [env.py: 1075] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.713, -0.898, -0.113) [env.py: 1079] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.9 deg [env.py: 1082] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [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 14:11:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:18 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:11:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.477s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:22 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.585[m] 87.598[deg] [grasp_sample.py: 596] +05/18 14:11:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:11:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:11:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:11:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:12:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:12:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:12:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:13:35 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:13:53 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/dresser/sim_chunks/chunk_045 [pipeline.py: 1174] +05/18 14:13:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_045 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:13:53 INFO: [Worker 0] Preparing episode data: 255 timesteps [save_utils.py: 278] +05/18 14:14:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:14:06 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_045 [save_utils.py: 785] +05/18 14:14:06 INFO: [Worker 0] Successfully saved trajectory data for chunk_045 in 12.44s (batch: 3.66s, save: 8.79s) [pipeline.py: 300] +05/18 14:14:07 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=1.17s: + episode_total: mean=58.70s, total=176.11s, count=3, min=249.3ms, max=169557.6ms + sensor_polling: mean=470.2ms, total=119.44s, count=254, min=445.9ms, max=584.1ms + save_trajectories: mean=8.79s, total=8.79s, count=1, min=8788.3ms, max=8788.3ms + physics_step: mean=30.7ms, total=7.80s, count=254, min=23.5ms, max=37.6ms + save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3655.8ms, max=3655.8ms + task_specific_sample: mean=469.7ms, total=1.41s, count=3, min=244.0ms, max=600.2ms + task_sampling: mean=586.2ms, total=1.17s, count=2, min=567.9ms, max=604.6ms + task_sampling_failed: mean=249.2ms, total=249.2ms, count=1, min=249.2ms, max=249.2ms + scene_randomize: mean=2.0ms, total=6.0ms, count=3, min=1.6ms, max=2.8ms + mj_forward_sync: mean=675.3us, total=2.0ms, count=3, min=0.7ms, max=0.7ms + policy_setup: mean=17.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:14:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:14:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163597m [env.py: 870] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.36957832 -1.06625533 -0.16359672] yaw=-43.9deg [env.py: 1019] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.47418247 -0.93783238 -0.16359672] yaw=-61.6deg [env.py: 1019] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5808982 -0.75586178 -0.16359672] yaw=-78.1deg [env.py: 1019] +05/18 14:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=242.3ms, total=242.3ms [env.py: 1075] +05/18 14:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.370, -1.066, -0.164) [env.py: 1079] +05/18 14:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.9 deg [env.py: 1082] +05/18 14:14:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/18 14:14:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:09 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:14:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.845s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:16 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.593[m] 112.252[deg] [grasp_sample.py: 596] +05/18 14:14:18 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:14:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:14:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196996m [env.py: 870] +05/18 14:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -147.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=253.2ms, total=253.2ms [env.py: 1105] +05/18 14:14:20 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:14:20 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:14:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:14:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:22 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 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127491m [env.py: 870] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -5.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -78.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.70717481 -0.74745716 -0.1274913 ] yaw=-88.5deg [env.py: 1019] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=257.6ms, total=257.7ms [env.py: 1075] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.707, -0.747, -0.127) [env.py: 1079] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.5 deg [env.py: 1082] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/18 14:14:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:22 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:14:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.237s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:28 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.774[m] 112.195[deg] [grasp_sample.py: 596] +05/18 14:14:29 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:14:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:14:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102524m [env.py: 870] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.24528933 -1.2726344 -0.10252374] yaw=-28.4deg [env.py: 1019] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35053981 -1.19237205 -0.10252374] yaw=-29.0deg [env.py: 1019] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.57914873 -0.94538753 -0.10252374] yaw=-72.9deg [env.py: 1019] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.1ms, total=126.1ms [env.py: 1075] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.245, -1.273, -0.103) [env.py: 1079] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.4 deg [env.py: 1082] +05/18 14:14:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/18 14:14:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:32 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:32 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 14:14:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.085s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:37 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.791[m] 85.152[deg] [grasp_sample.py: 596] +05/18 14:14:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:14:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:14:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:15:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:16:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:26 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:16:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:16:26 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 14:16:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:16:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.256s, found 90 non-colliding grasps [grasp_sample.py: 520] +05/18 14:16:27 INFO: [Worker 0] Feasibility-checked 90 grasps in 1.070s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:16:27 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.035[m] 4.682[deg] [grasp_sample.py: 596] +05/18 14:16:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:16:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:16:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:16:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:17:13 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:17:35 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/dresser/sim_chunks/chunk_045 [pipeline.py: 1174] +05/18 14:17:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_045 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:17:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:17:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:17:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_045 [save_utils.py: 785] +05/18 14:17:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_045 in 14.54s (batch: 3.86s, save: 10.68s) [pipeline.py: 300] +05/18 14:17:50 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=1.59s: + episode_total: mean=54.05s, total=216.20s, count=4, min=265.2ms, max=198638.5ms + sensor_polling: mean=472.5ms, total=141.74s, count=300, min=434.5ms, max=593.9ms + save_trajectories: mean=10.68s, total=10.68s, count=1, min=10682.4ms, max=10682.4ms + physics_step: mean=31.0ms, total=9.29s, count=300, min=24.9ms, max=42.7ms + save_batch_prep: mean=3.86s, total=3.86s, count=1, min=3859.2ms, max=3859.2ms + task_specific_sample: mean=460.6ms, total=1.84s, count=4, min=259.5ms, max=575.1ms + task_sampling: mean=531.2ms, total=1.59s, count=3, min=438.8ms, max=579.9ms + task_sampling_failed: mean=265.1ms, total=265.1ms, count=1, min=265.1ms, max=265.1ms + scene_randomize: mean=1.9ms, total=7.8ms, count=4, min=1.5ms, max=3.2ms + mj_forward_sync: mean=610.0us, total=2.4ms, count=4, min=0.5ms, max=0.7ms + policy_setup: mean=15.3us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:17:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:51 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 14:17:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172774m [env.py: 870] +05/18 14:17:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.78493087 -0.71033473 -0.17277353] yaw=-60.8deg [env.py: 1019] +05/18 14:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.78742677 -0.67831894 -0.17277353] yaw=-59.0deg [env.py: 1019] +05/18 14:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.5638384 -0.94933912 -0.17277353] yaw=-90.7deg [env.py: 1019] +05/18 14:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.2ms, total=132.3ms [env.py: 1075] +05/18 14:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.785, -0.710, -0.173) [env.py: 1079] +05/18 14:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.8 deg [env.py: 1082] +05/18 14:17:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/18 14:17:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:52 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:52 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 14:17:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.056s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:17:57 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.867[m] 78.561[deg] [grasp_sample.py: 596] +05/18 14:17:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:17:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:17:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:17:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:18:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:18:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:18:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:18:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:18:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:18:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:18:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:19:46 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:19:46 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 14:19:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:20:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 21.549s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:20:08 INFO: [Worker 0] Feasible grasp found 40 (originally 40): w/ 0.112[m] 10.662[deg] [grasp_sample.py: 596] +05/18 14:20:10 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:20:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:20:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:20:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:20:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:20:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:20:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:20:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:20:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:20:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:20:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:20:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120428m [env.py: 870] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:20:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 3.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.48270028 -1.02925302 -0.12042756] yaw=-74.2deg [env.py: 1019] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.763178 -0.68368873 -0.12042756] yaw=-98.2deg [env.py: 1019] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:20:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=260.6ms, total=260.6ms [env.py: 1075] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.483, -1.029, -0.120) [env.py: 1079] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.2 deg [env.py: 1082] +05/18 14:20:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/18 14:20:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:20:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:20:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:20:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:20:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:20:12 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 14:20:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 14:20:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:20:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:20:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:20:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 35.349s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:20:48 INFO: [Worker 0] Feasible grasp found 477 (originally 170): w/ 0.654[m] 108.265[deg] [grasp_sample.py: 596] +05/18 14:20:50 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:20:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:20:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:20:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:20:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:20:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:20:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:20:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:20:51 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 14:20:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:20:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139568m [env.py: 870] +05/18 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:20:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.30892397 -1.1996622 -0.13956824] yaw=-49.5deg [env.py: 1019] +05/18 14:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -41.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:20:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=237.4ms, total=237.5ms [env.py: 1075] +05/18 14:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.309, -1.200, -0.140) [env.py: 1079] +05/18 14:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.5 deg [env.py: 1082] +05/18 14:20:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m [env.py: 1086] +05/18 14:20:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:20:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:20:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:20:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:20:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:20:52 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/18 14:20:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:20:52 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 14:20:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:20:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:20:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.707s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:20:59 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.666[m] 82.389[deg] [grasp_sample.py: 596] +05/18 14:21:01 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:21:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:21:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:21:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:21:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:21:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:21:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:21:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:21:02 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 14:21:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:21:02 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 14:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121586m [env.py: 870] +05/18 14:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:21:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.40833234 -0.96731466 -0.12158647] yaw=-44.6deg [env.py: 1019] +05/18 14:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 4.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.9171992 -0.69165878 -0.12158647] yaw=-67.5deg [env.py: 1019] +05/18 14:21:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:21:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.7ms, total=239.7ms [env.py: 1075] +05/18 14:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.408, -0.967, -0.122) [env.py: 1079] +05/18 14:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.6 deg [env.py: 1082] +05/18 14:21:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/18 14:21:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:21:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:21:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:21:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:21:03 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 14:21:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 14:21:03 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 14:21:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:21:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.152s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:21:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.039s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:21:07 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.607[m] 73.124[deg] [grasp_sample.py: 596] +05/18 14:21:09 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:21:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:21:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:21:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:21:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:21:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:21:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:21:11 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 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168828m [env.py: 870] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:21:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 179.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.25491098 -1.14258558 -0.16882788] yaw=-62.7deg [env.py: 1019] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:21:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=252.9ms, total=252.9ms [env.py: 1075] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.255, -1.143, -0.169) [env.py: 1079] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg [env.py: 1082] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:21:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:21:11 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 14:21:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 14:21:11 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 14:21:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:21:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:21:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.546s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:21:29 INFO: [Worker 0] Feasible grasp found 180 (originally 180): w/ 0.727[m] 85.024[deg] [grasp_sample.py: 596] +05/18 14:21:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:21:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:21:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:21:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:22:39 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:22:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:22:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:23:52 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:24:13 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/dresser/sim_chunks/chunk_045 [pipeline.py: 1174] +05/18 14:24:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_045 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:24:13 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/18 14:24:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:24:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_045 [save_utils.py: 785] +05/18 14:24:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_045 in 13.27s (batch: 3.70s, save: 9.57s) [pipeline.py: 300] +05/18 14:24:27 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=2.74s: + episode_total: mean=77.64s, total=388.18s, count=5, min=6575.3ms, max=196124.7ms + sensor_polling: mean=474.0ms, total=208.08s, count=439, min=439.9ms, max=582.9ms + physics_step: mean=30.9ms, total=13.56s, count=439, min=24.3ms, max=36.4ms + save_trajectories: mean=9.57s, total=9.57s, count=1, min=9568.0ms, max=9568.0ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3699.0ms, max=3699.0ms + task_sampling: mean=548.8ms, total=2.74s, count=5, min=467.9ms, max=589.7ms + task_specific_sample: mean=544.9ms, total=2.72s, count=5, min=463.3ms, max=586.0ms + scene_randomize: mean=2.0ms, total=10.0ms, count=5, min=1.5ms, max=3.1ms + mj_forward_sync: mean=596.0us, total=3.0ms, count=5, min=0.5ms, max=0.7ms + policy_setup: mean=17.3us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:24:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:24:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:24:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:24:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:24:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:24:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:24:28 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 14:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191509m [env.py: 870] +05/18 14:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:24:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:24:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -170.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -159.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 71.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -152.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26660965 -1.05709142 -0.19150861] yaw=-29.1deg [env.py: 1019] +05/18 14:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:24:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=256.3ms, total=256.4ms [env.py: 1075] +05/18 14:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.267, -1.057, -0.192) [env.py: 1079] +05/18 14:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.1 deg [env.py: 1082] +05/18 14:24:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/18 14:24:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:24:29 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/18 14:24:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.148s [base_object_manipulation_planner_policy.py: 377] +05/18 14:24:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:24:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:24:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:24:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.665s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:24:35 INFO: [Worker 0] Feasible grasp found 142 (originally 142): w/ 0.756[m] 93.256[deg] [grasp_sample.py: 596] +05/18 14:24:37 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:24:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:24:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:24:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:24:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:24:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:24:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:24:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127564m [env.py: 870] +05/18 14:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:24:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21958578 -0.93806526 -0.12756417] yaw=-71.9deg [env.py: 1019] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -89.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -149.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.08395347 -1.20387753 -0.12756417] yaw=-38.4deg [env.py: 1019] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:24:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=258.1ms, total=258.1ms [env.py: 1075] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -0.938, -0.128) [env.py: 1079] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.9 deg [env.py: 1082] +05/18 14:24:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.078m [env.py: 1086] +05/18 14:24:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:24:39 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/18 14:24:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 14:24:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:24:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:24:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:24:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.422s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:24:45 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:24:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:24:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:24:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:24:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:24:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:24:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:24:46 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 14:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169164m [env.py: 870] +05/18 14:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:24:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.61629471 -0.93858397 -0.16916355] yaw=-65.3deg [env.py: 1019] +05/18 14:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:24:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.37153947 -1.12496697 -0.16916355] yaw=-44.8deg [env.py: 1019] +05/18 14:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:24:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=259.1ms, total=259.1ms [env.py: 1075] +05/18 14:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.616, -0.939, -0.169) [env.py: 1079] +05/18 14:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.3 deg [env.py: 1082] +05/18 14:24:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/18 14:24:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:24:47 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/18 14:24:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:24:47 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 14:24:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:24:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:24:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.063s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:24:50 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.646[m] 107.950[deg] [grasp_sample.py: 596] +05/18 14:24:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:24:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:24:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:24:51 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 14:25:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:26:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:26:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:27:10 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:27:31 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/dresser/sim_chunks/chunk_045 [pipeline.py: 1174] +05/18 14:27:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_045 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:27:31 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/18 14:27:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:27:44 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_045 [save_utils.py: 785] +05/18 14:27:44 INFO: [Worker 0] Successfully saved trajectory data for chunk_045 in 13.15s (batch: 3.75s, save: 9.40s) [pipeline.py: 300] +05/18 14:27:44 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=1.75s: + episode_total: mean=64.12s, total=192.36s, count=3, min=6248.6ms, max=177842.2ms + sensor_polling: mean=472.1ms, total=127.46s, count=270, min=436.0ms, max=565.3ms + save_trajectories: mean=9.40s, total=9.40s, count=1, min=9396.2ms, max=9396.2ms + physics_step: mean=31.7ms, total=8.55s, count=270, min=23.8ms, max=38.8ms + save_batch_prep: mean=3.75s, total=3.75s, count=1, min=3751.0ms, max=3751.0ms + task_sampling: mean=584.5ms, total=1.75s, count=3, min=577.1ms, max=597.0ms + task_specific_sample: mean=580.7ms, total=1.74s, count=3, min=573.5ms, max=592.1ms + scene_randomize: mean=2.2ms, total=6.5ms, count=3, min=1.5ms, max=3.3ms + mj_forward_sync: mean=640.9us, total=1.9ms, count=3, min=0.6ms, max=0.7ms + policy_setup: mean=15.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:27:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:27:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:27:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:27:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:27:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:27:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181717m [env.py: 870] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:27:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -146.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -90.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23984655 -1.10053575 -0.18171695] yaw=-49.3deg [env.py: 1019] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.72941746 -0.85739472 -0.18171695] yaw=-54.0deg [env.py: 1019] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:27:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=263.1ms, total=263.1ms [env.py: 1075] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.240, -1.101, -0.182) [env.py: 1079] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg [env.py: 1082] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:27:47 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 14:27:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s [base_object_manipulation_planner_policy.py: 377] +05/18 14:27:47 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 14:27:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:27:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:28:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 32.276s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:28:19 INFO: [Worker 0] Feasible grasp found 252 (originally 252): w/ 0.669[m] 60.908[deg] [grasp_sample.py: 596] +05/18 14:28:21 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:28:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:28:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:28:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:28:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:28:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:28:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:28:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:28:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:28:23 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 14:28:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:28:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115704m [env.py: 870] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:28:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.35178459 -1.14042437 -0.11570396] yaw=-68.4deg [env.py: 1019] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -164.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.6086162 -0.71093417 -0.11570396] yaw=-60.6deg [env.py: 1019] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.04382168 -1.26665199 -0.11570396] yaw=-13.4deg [env.py: 1019] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:28:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=261.0ms, total=261.0ms [env.py: 1075] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.352, -1.140, -0.116) [env.py: 1079] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.4 deg [env.py: 1082] +05/18 14:28:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/18 14:28:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:28:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:28:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:28:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:28:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:28:23 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/18 14:28:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/18 14:28:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:28:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:28:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 37.979s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:29:01 INFO: [Worker 0] Feasible grasp found 413 (originally 106): w/ 0.657[m] 117.958[deg] [grasp_sample.py: 596] +05/18 14:29:03 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:29:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:05 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 14:29:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:05 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 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171787m [env.py: 870] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -140.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25085124 -1.3372557 -0.17178721] yaw=-34.8deg [env.py: 1019] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 71.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44402119 -0.80538675 -0.17178721] yaw=-37.1deg [env.py: 1019] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=249.6ms, total=249.6ms [env.py: 1075] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.251, -1.337, -0.172) [env.py: 1079] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.8 deg [env.py: 1082] +05/18 14:29:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.802m [env.py: 1086] +05/18 14:29:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:05 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:29:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.532s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:29:14 INFO: [Worker 0] Feasible grasp found 249 (originally 249): w/ 0.646[m] 116.326[deg] [grasp_sample.py: 596] +05/18 14:29:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:29:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:29:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:29:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:30:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:30:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:30:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:31:33 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:31:54 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/dresser/sim_chunks/chunk_045 [pipeline.py: 1174] +05/18 14:31:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_045 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:31:54 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/18 14:32:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:32:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_045 [save_utils.py: 785] +05/18 14:32:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_045 in 13.08s (batch: 3.62s, save: 9.46s) [pipeline.py: 300] +05/18 14:32:08 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=1.77s: + episode_total: mean=86.07s, total=258.21s, count=3, min=34880.7ms, max=182821.1ms + sensor_polling: mean=481.6ms, total=126.65s, count=263, min=441.8ms, max=592.2ms + save_trajectories: mean=9.46s, total=9.46s, count=1, min=9462.6ms, max=9462.6ms + physics_step: mean=32.2ms, total=8.46s, count=263, min=25.4ms, max=36.7ms + save_batch_prep: mean=3.62s, total=3.62s, count=1, min=3620.9ms, max=3620.9ms + task_sampling: mean=591.6ms, total=1.77s, count=3, min=569.5ms, max=605.8ms + task_specific_sample: mean=587.6ms, total=1.76s, count=3, min=566.4ms, max=601.6ms + scene_randomize: mean=2.2ms, total=6.5ms, count=3, min=1.6ms, max=2.7ms + mj_forward_sync: mean=618.5us, total=1.9ms, count=3, min=0.6ms, max=0.7ms + policy_setup: mean=15.4us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:32:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:32:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:32:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:32:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:32:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:32:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:32:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:32:09 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 14:32:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:32:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170218m [env.py: 870] +05/18 14:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:32:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -19.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=249.2ms, total=249.3ms [env.py: 1105] +05/18 14:32:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:32:10 ERROR: [Worker 0] Worker 0 house 1 episode 55 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:32:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:32:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:32:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:32:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:32:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:32:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:32:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:32:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:32:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129832m [env.py: 870] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:32:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26555837 -0.97257486 -0.12983215] yaw=-59.8deg [env.py: 1019] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -119.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18575794 -1.11816875 -0.12983215] yaw=-28.4deg [env.py: 1019] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.69474167 -0.86068794 -0.12983215] yaw=-89.7deg [env.py: 1019] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:32:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=175.3ms, total=175.4ms [env.py: 1075] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.266, -0.973, -0.130) [env.py: 1079] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.8 deg [env.py: 1082] +05/18 14:32:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/18 14:32:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:32:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:32:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:32:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:32:12 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/18 14:32:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s [base_object_manipulation_planner_policy.py: 377] +05/18 14:32:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:32:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:32:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:32:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.465s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:32:21 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:32:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:32:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:32:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:32:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:32:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:32:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:32:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:32:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:32:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:32:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130297m [env.py: 870] +05/18 14:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:32:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=230.1ms, total=230.2ms [env.py: 1105] +05/18 14:32:23 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:32:23 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:32:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:32:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:32:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:32:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:32:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:32:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:32:24 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 14:32:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:32:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125938m [env.py: 870] +05/18 14:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:32:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -62.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.00677967 -1.33668235 -0.12593762] yaw=-18.5deg [env.py: 1019] +05/18 14:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:32:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=242.3ms, total=242.4ms [env.py: 1075] +05/18 14:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.007, -1.337, -0.126) [env.py: 1079] +05/18 14:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.5 deg [env.py: 1082] +05/18 14:32:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.022m [env.py: 1086] +05/18 14:32:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:32:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:32:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:32:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:32:25 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/18 14:32:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s [base_object_manipulation_planner_policy.py: 377] +05/18 14:32:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:32:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:32:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:32:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.011s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:32:30 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:32:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:32:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:32:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:32:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:32:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:32:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:32:32 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 14:32:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:32:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124855m [env.py: 870] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:32:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -60.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.90850838 -0.87927363 -0.12485456] yaw=-104.6deg [env.py: 1019] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.89584072 -0.86427311 -0.12485456] yaw=-104.0deg [env.py: 1019] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58776745 -0.91557604 -0.12485456] yaw=-63.5deg [env.py: 1019] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:32:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=228.1ms, total=228.2ms [env.py: 1075] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.909, -0.879, -0.125) [env.py: 1079] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.6 deg [env.py: 1082] +05/18 14:32:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/18 14:32:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:32:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:32:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:32:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:32:32 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/18 14:32:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 14:32:32 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 14:32:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:32:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:32:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.317s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:32:35 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.571[m] 94.473[deg] [grasp_sample.py: 596] +05/18 14:32:37 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:32:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:32:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:32:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:32:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:32:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:32:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:32:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:32:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:32:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130004m [env.py: 870] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:32:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27944477 -0.98735674 -0.1300036 ] yaw=-64.5deg [env.py: 1019] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -155.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.77409656 -0.78989001 -0.1300036 ] yaw=-69.0deg [env.py: 1019] +05/18 14:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:32:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=243.2ms, total=243.2ms [env.py: 1075] +05/18 14:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.279, -0.987, -0.130) [env.py: 1079] +05/18 14:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.5 deg [env.py: 1082] +05/18 14:32:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/18 14:32:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:32:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:32:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:32:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:32:39 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/18 14:32:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/18 14:32:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:32:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:32:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 23.997s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:33:03 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:33:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:33:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101069m [env.py: 870] +05/18 14:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.14269355 -1.06405654 -0.10106885] yaw=-38.5deg [env.py: 1019] +05/18 14:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.7ms, total=234.7ms [env.py: 1075] +05/18 14:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.143, -1.064, -0.101) [env.py: 1079] +05/18 14:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.5 deg [env.py: 1082] +05/18 14:33:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.047m [env.py: 1086] +05/18 14:33:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:05 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:33:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.954s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:33:11 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:33:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:33:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:12 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 14:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144307m [env.py: 870] +05/18 14:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.54582029 -0.93516574 -0.14430684] yaw=-82.4deg [env.py: 1019] +05/18 14:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -77.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.13768434 -1.36566387 -0.14430684] yaw=-28.9deg [env.py: 1019] +05/18 14:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=233.5ms, total=233.6ms [env.py: 1075] +05/18 14:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.546, -0.935, -0.144) [env.py: 1079] +05/18 14:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.4 deg [env.py: 1082] +05/18 14:33:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/18 14:33:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:13 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:13 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 14:33:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.625s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:33:18 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.758[m] 76.634[deg] [grasp_sample.py: 596] +05/18 14:33:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:33:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:33:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:33:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:33:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:33:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:33:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:33:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:33:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:33:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:33:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:33:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:33:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:33:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:33:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:34:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:34:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.307s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:34:08 INFO: [Worker 0] Feasible grasp found 425 (originally 118): w/ 0.568[m] 53.572[deg] [grasp_sample.py: 596] +05/18 14:34:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:34:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:34:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:34:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:34:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:34:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:34:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:34:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:34:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.819s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:34:43 INFO: [Worker 0] Feasible grasp found 409 (originally 102): w/ 0.551[m] 52.923[deg] [grasp_sample.py: 596] +05/18 14:34:45 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:34:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:34:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:34:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:34:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:34:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:34:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:34:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:34:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:34:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:34:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:34:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115990m [env.py: 870] +05/18 14:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:34:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.0952816 -1.18016772 -0.11599028] yaw=-37.5deg [env.py: 1019] +05/18 14:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.89274605 -0.74501925 -0.11599028] yaw=-111.9deg [env.py: 1019] +05/18 14:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03236963 -1.35769477 -0.11599028] yaw=-5.6deg [env.py: 1019] +05/18 14:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:34:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=209.5ms, total=209.5ms [env.py: 1075] +05/18 14:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.095, -1.180, -0.116) [env.py: 1079] +05/18 14:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.5 deg [env.py: 1082] +05/18 14:34:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/18 14:34:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:34:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:34:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:34:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:34:47 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/18 14:34:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 14:34:47 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 14:34:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:34:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:34:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.960s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:34:52 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:34:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:34:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:34:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:34:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:34:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:34:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:34:54 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 14:34:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:34:54 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 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141672m [env.py: 870] +05/18 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:34:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -43.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42529813 -1.05207748 -0.14167198] yaw=-36.5deg [env.py: 1019] +05/18 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:34:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=218.1ms, total=218.2ms [env.py: 1075] +05/18 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.425, -1.052, -0.142) [env.py: 1079] +05/18 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.5 deg [env.py: 1082] +05/18 14:34:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/18 14:34:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:34:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:34:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:34:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:34:54 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/18 14:34:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 14:34:54 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 14:34:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:34:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:35:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.815s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:35:04 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.640[m] 62.085[deg] [grasp_sample.py: 596] +05/18 14:35:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:35:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:35:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:35:06 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 14:36:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:36:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:36:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:37:16 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:37:35 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/dresser/sim_chunks/chunk_045 [pipeline.py: 1174] +05/18 14:37:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_045 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:37:35 INFO: [Worker 0] Preparing episode data: 263 timesteps [save_utils.py: 278] +05/18 14:37:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:37:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_045 [save_utils.py: 785] +05/18 14:37:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_045 in 12.10s (batch: 3.47s, save: 8.62s) [pipeline.py: 300] +05/18 14:37:48 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=4.32s: + episode_total: mean=32.32s, total=323.24s, count=10, min=242.3ms, max=174064.7ms + sensor_polling: mean=460.5ms, total=151.05s, count=328, min=428.9ms, max=559.5ms + physics_step: mean=30.1ms, total=9.88s, count=328, min=20.0ms, max=47.5ms + save_trajectories: mean=8.62s, total=8.62s, count=1, min=8624.7ms, max=8624.7ms + task_specific_sample: mean=478.3ms, total=4.78s, count=10, min=237.0ms, max=555.4ms + task_sampling: mean=539.6ms, total=4.32s, count=8, min=516.7ms, max=558.5ms + save_batch_prep: mean=3.47s, total=3.47s, count=1, min=3470.9ms, max=3470.9ms + task_sampling_failed: mean=252.8ms, total=505.5ms, count=2, min=242.3ms, max=263.2ms + scene_randomize: mean=1.9ms, total=18.8ms, count=10, min=1.5ms, max=2.6ms + mj_forward_sync: mean=581.3us, total=5.8ms, count=10, min=0.5ms, max=0.7ms + policy_setup: mean=14.6us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:37:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:37:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:37:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:37:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:37:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:37:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102254m [env.py: 870] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:37:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.72282048 -0.67002409 -0.10225366] yaw=-69.5deg [env.py: 1019] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -119.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.22579296 -1.14051356 -0.10225366] yaw=-41.4deg [env.py: 1019] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:37:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.2ms, total=224.2ms [env.py: 1075] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.723, -0.670, -0.102) [env.py: 1079] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.5 deg [env.py: 1082] +05/18 14:37:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/18 14:37:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:37:50 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/18 14:37:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s [base_object_manipulation_planner_policy.py: 377] +05/18 14:37:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:37:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:37:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:37:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.449s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:37:56 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:37:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:37:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:37:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:37:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:37:58 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 14:37:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:37:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168025m [env.py: 870] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:37:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44774377 -1.02522034 -0.16802503] yaw=-81.1deg [env.py: 1019] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 90.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22984177 -1.23213852 -0.16802503] yaw=-42.9deg [env.py: 1019] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -49.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.86181274 -0.75909954 -0.16802503] yaw=-102.8deg [env.py: 1019] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:37:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=185.0ms, total=185.1ms [env.py: 1075] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.448, -1.025, -0.168) [env.py: 1079] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.1 deg [env.py: 1082] +05/18 14:37:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/18 14:37:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:37:58 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/18 14:37:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/18 14:37:58 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 14:37:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:37:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:38:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 27.434s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:38:26 INFO: [Worker 0] Feasible grasp found 425 (originally 118): w/ 0.912[m] 72.853[deg] [grasp_sample.py: 596] +05/18 14:38:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:38:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:38:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:38:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:39:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:39:07 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 14:39:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:39:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:39:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 31.120s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:39:38 INFO: [Worker 0] Feasible grasp found 527 (originally 220): w/ 0.660[m] 51.801[deg] [grasp_sample.py: 596] +05/18 14:39:40 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:39:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:39:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:39:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:39:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:39:42 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 14:39:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:39:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167343m [env.py: 870] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:39:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 15.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -61.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 7.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41764449 -0.98309731 -0.16734348] yaw=-36.4deg [env.py: 1019] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.43133845 -1.09485245 -0.16734348] yaw=-67.6deg [env.py: 1019] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:39:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.0ms, total=232.0ms [env.py: 1075] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -0.983, -0.167) [env.py: 1079] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.4 deg [env.py: 1082] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/18 14:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:39:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:39:42 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/18 14:39:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/18 14:39:42 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 14:39:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:39:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:39:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.864s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:39:49 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.703[m] 53.013[deg] [grasp_sample.py: 596] +05/18 14:39:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:39:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:39:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:39:51 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 14:40:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:41:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:41:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:42:05 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:42:24 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/dresser/sim_chunks/chunk_045 [pipeline.py: 1174] +05/18 14:42:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_045 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:42:24 INFO: [Worker 0] Preparing episode data: 274 timesteps [save_utils.py: 278] +05/18 14:42:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:42:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_045 [save_utils.py: 785] +05/18 14:42:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_045 in 12.35s (batch: 3.42s, save: 8.94s) [pipeline.py: 300] +05/18 14:42:37 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=1.58s: + episode_total: mean=94.76s, total=284.28s, count=3, min=6257.5ms, max=175607.5ms + sensor_polling: mean=454.7ms, total=150.50s, count=331, min=430.9ms, max=552.0ms + physics_step: mean=29.9ms, total=9.90s, count=331, min=23.4ms, max=43.8ms + save_trajectories: mean=8.94s, total=8.94s, count=1, min=8936.0ms, max=8936.0ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3418.9ms, max=3418.9ms + task_sampling: mean=526.9ms, total=1.58s, count=3, min=493.7ms, max=548.8ms + task_specific_sample: mean=523.3ms, total=1.57s, count=3, min=490.1ms, max=545.6ms + scene_randomize: mean=1.9ms, total=5.7ms, count=3, min=1.5ms, max=2.6ms + mj_forward_sync: mean=555.3us, total=1.7ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=15.1us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:42:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:42:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:42:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:42:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:42:39 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 14:42:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:42:39 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 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153991m [env.py: 870] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:42:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36469 -1.04119528 -0.1539905 ] yaw=-54.4deg [env.py: 1019] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -84.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07520495 -1.08496248 -0.1539905 ] yaw=-24.6deg [env.py: 1019] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:42:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=232.7ms, total=232.8ms [env.py: 1075] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.365, -1.041, -0.154) [env.py: 1079] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.4 deg [env.py: 1082] +05/18 14:42:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.905m [env.py: 1086] +05/18 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:42:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:42:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:42:39 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/18 14:42:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s [base_object_manipulation_planner_policy.py: 377] +05/18 14:42:40 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:42:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:42:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:42:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.863s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:42:50 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.707[m] 100.060[deg] [grasp_sample.py: 596] +05/18 14:42:51 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:42:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:42:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:42:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:42:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:42:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:42:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:42:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:42:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:42:53 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 14:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153491m [env.py: 870] +05/18 14:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:42:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -132.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 0.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22538365 -1.23861722 -0.15349062] yaw=-34.1deg [env.py: 1019] +05/18 14:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 178.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:42:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.7ms, total=236.7ms [env.py: 1075] +05/18 14:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.225, -1.239, -0.153) [env.py: 1079] +05/18 14:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.1 deg [env.py: 1082] +05/18 14:42:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/18 14:42:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:42:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:42:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:42:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:42:53 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/18 14:42:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/18 14:42:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:42:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:42:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.815s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:43:06 INFO: [Worker 0] Feasible grasp found 126 (originally 126): w/ 0.763[m] 102.889[deg] [grasp_sample.py: 596] +05/18 14:43:08 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:43:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:43:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:43:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:43:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:43:10 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 14:43:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:43:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183824m [env.py: 870] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:43:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.00703173 -1.22237222 -0.18382443] yaw=-29.3deg [env.py: 1019] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.53340701 -0.96046729 -0.18382443] yaw=-88.1deg [env.py: 1019] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.10922209 -1.15861776 -0.18382443] yaw=-61.1deg [env.py: 1019] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:43:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.6ms, total=116.6ms [env.py: 1075] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.007, -1.222, -0.184) [env.py: 1079] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.3 deg [env.py: 1082] +05/18 14:43:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/18 14:43:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:43:10 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/18 14:43:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:43:10 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 14:43:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:43:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.851s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:43:15 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:43:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:43:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:43:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:43:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:43:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:43:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:43:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198605m [env.py: 870] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:43:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -108.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.24717796 -0.8959597 -0.19860474] yaw=-58.9deg [env.py: 1019] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.27542926 -1.02042357 -0.19860474] yaw=-23.1deg [env.py: 1019] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:43:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.1ms, total=238.2ms [env.py: 1075] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.247, -0.896, -0.199) [env.py: 1079] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.9 deg [env.py: 1082] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m [env.py: 1086] +05/18 14:43:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:43:18 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/18 14:43:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 14:43:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:43:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:43:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.159s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.976s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:43:23 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:43:25 WARNING: [Worker 0] No trajectory data to save for chunk_045 [pipeline.py: 234] +05/18 14:43:25 WARNING: [Worker 0] No trajectory data to save for chunk_045 [pipeline.py: 234] +05/18 14:43:25 INFO: [Worker 0] Worker 0 completed house 1: 11/14 successful episodes [pipeline.py: 1323] +05/18 14:43:25 INFO: [Worker 0] [PROFILE] House 1 complete: 11/14 successful, 14 episodes, total_time=5728.22s + House averages: + episode_total: mean=49.09s, total=3534.35s, count=72, min=232.9ms, max=234383.1ms + sensor_polling: mean=470.5ms, total=1834.44s, count=3899, min=428.7ms, max=593.9ms + physics_step: mean=30.9ms, total=120.35s, count=3899, min=19.6ms, max=47.5ms + save_trajectories: mean=9.57s, total=105.26s, count=11, min=8624.7ms, max=10682.4ms + task_sampling: mean=639.8ms, total=40.95s, count=64, min=424.5ms, max=6388.7ms + save_batch_prep: mean=3.66s, total=40.25s, count=11, min=3418.9ms, max=3873.2ms + task_specific_sample: mean=513.0ms, total=36.93s, count=72, min=227.8ms, max=635.4ms + scene_load: mean=5.75s, total=5.75s, count=1, min=5749.5ms, max=5749.5ms + scene_env_create: mean=3.64s, total=3.64s, count=1, min=3639.9ms, max=3639.9ms + task_sampling_failed: mean=250.7ms, total=2.01s, count=8, min=232.9ms, max=265.1ms + scene_compile: mean=1.59s, total=1.59s, count=1, min=1585.0ms, max=1585.0ms + compile_mujoco: mean=979.5ms, total=979.5ms, count=1, min=979.5ms, max=979.5ms + compile_xml_load: mean=508.5ms, total=508.5ms, count=1, min=508.5ms, max=508.5ms + scene_asset_install: mean=368.2ms, total=368.2ms, count=1, min=368.2ms, max=368.2ms + asset_install_grasps: mean=195.9ms, total=195.9ms, count=1, min=195.9ms, max=195.9ms + asset_install_objects: mean=168.6ms, total=168.6ms, count=1, min=168.6ms, max=168.6ms + scene_init: mean=156.1ms, total=156.1ms, count=1, min=156.1ms, max=156.1ms + scene_randomize: mean=1.8ms, total=132.3ms, count=72, min=1.4ms, max=3.3ms + compile_aux_objects: mean=76.5ms, total=76.5ms, count=1, min=76.5ms, max=76.5ms + compile_aux_policy_objects: mean=76.5ms, total=76.5ms, count=1, min=76.5ms, max=76.5ms + mj_forward_sync: mean=594.7us, total=42.8ms, count=72, min=0.5ms, max=0.7ms + compile_robot_add: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=16.5us, total=1.1ms, count=64, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/18 14:43:25 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/18 14:43:25 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 14 episodes, total_time=5728.22s + Worker averages: + episode_total: mean=49.09s, total=3534.35s, count=72, min=232.9ms, max=234383.1ms + sensor_polling: mean=470.5ms, total=1834.44s, count=3899, min=428.7ms, max=593.9ms + physics_step: mean=30.9ms, total=120.35s, count=3899, min=19.6ms, max=47.5ms + save_trajectories: mean=9.57s, total=105.26s, count=11, min=8624.7ms, max=10682.4ms + task_sampling: mean=639.8ms, total=40.95s, count=64, min=424.5ms, max=6388.7ms + save_batch_prep: mean=3.66s, total=40.25s, count=11, min=3418.9ms, max=3873.2ms + task_specific_sample: mean=513.0ms, total=36.93s, count=72, min=227.8ms, max=635.4ms + scene_load: mean=5.75s, total=5.75s, count=1, min=5749.5ms, max=5749.5ms + scene_env_create: mean=3.64s, total=3.64s, count=1, min=3639.9ms, max=3639.9ms + task_sampling_failed: mean=250.7ms, total=2.01s, count=8, min=232.9ms, max=265.1ms + scene_compile: mean=1.59s, total=1.59s, count=1, min=1585.0ms, max=1585.0ms + compile_mujoco: mean=979.5ms, total=979.5ms, count=1, min=979.5ms, max=979.5ms + compile_xml_load: mean=508.5ms, total=508.5ms, count=1, min=508.5ms, max=508.5ms + scene_asset_install: mean=368.2ms, total=368.2ms, count=1, min=368.2ms, max=368.2ms + asset_install_grasps: mean=195.9ms, total=195.9ms, count=1, min=195.9ms, max=195.9ms + asset_install_objects: mean=168.6ms, total=168.6ms, count=1, min=168.6ms, max=168.6ms + scene_init: mean=156.1ms, total=156.1ms, count=1, min=156.1ms, max=156.1ms + scene_randomize: mean=1.8ms, total=132.3ms, count=72, min=1.4ms, max=3.3ms + compile_aux_objects: mean=76.5ms, total=76.5ms, count=1, min=76.5ms, max=76.5ms + compile_aux_policy_objects: mean=76.5ms, total=76.5ms, count=1, min=76.5ms, max=76.5ms + mj_forward_sync: mean=594.7us, total=42.8ms, count=72, min=0.5ms, max=0.7ms + compile_robot_add: mean=9.8ms, total=9.8ms, count=1, min=9.8ms, max=9.8ms + asset_install_scene: mean=3.6ms, total=3.6ms, count=1, min=3.6ms, max=3.6ms + policy_setup: mean=16.5us, total=1.1ms, count=64, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/18 14:43:27 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/18 14:43:27 INFO: Success count: 11, Total count: 14 [pipeline.py: 1491] +05/18 14:43:27 INFO: Success rate: 78.57% [pipeline.py: 1492] diff --git a/dresser/sim/chunk_045/trajectories_batch_1_of_1_cam_rand.h5 b/dresser/sim/chunk_045/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fef897d61cbc57092aa2f84906da46381c66832a --- /dev/null +++ b/dresser/sim/chunk_045/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e6a76f337129427c430ef25d31d3bb04767084244a8d9f67e0c15009b0ffb1d +size 763277886