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[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': 20049, + '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 13:42:25 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 13:42:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 13:42:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 13:42:26 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=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, 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: -0.128643m [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 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -55.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.54633547 -0.7964784 -0.12864257] yaw=-69.2deg [env.py: 1019] +05/18 13:42:31 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 7: pos=[ 0.15493491 -1.41552149 -0.12864257] yaw=-14.1deg [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=28.4ms, retries=232.3ms, total=260.7ms [env.py: 1075] +05/18 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.546, -0.796, -0.129) [env.py: 1079] +05/18 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.2 deg [env.py: 1082] +05/18 13:42:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [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 13:43:08 INFO: [Worker 0] Warmed up parallel IK solver in 35.682s [base_object_manipulation_planner_policy.py: 377] +05/18 13:43:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:43:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:43:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.878s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:43:15 INFO: [Worker 0] Feasible grasp found 377 (originally 70): w/ 0.777[m] 78.142[deg] [grasp_sample.py: 596] +05/18 13:43:16 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:43:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:43:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:43:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:43:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:43:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:43:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:43:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147572m [env.py: 870] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:43:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19598694 -1.42931888 -0.14757188] yaw=-10.3deg [env.py: 1019] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 56.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.00547671 -1.38633226 -0.14757188] yaw=-37.3deg [env.py: 1019] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:43:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=228.4ms, total=228.5ms [env.py: 1075] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.196, -1.429, -0.148) [env.py: 1079] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.3 deg [env.py: 1082] +05/18 13:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/18 13:43:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:43:18 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 13:43:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 13:43:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:43:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:43:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.925s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:43:24 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.681[m] 82.885[deg] [grasp_sample.py: 596] +05/18 13:43:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:43:24 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:43:24 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:43:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:44:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:44:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:44:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:37 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:45:57 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/dresser/sim_chunks/chunk_049 [pipeline.py: 1174] +05/18 13:45:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_049 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:45:57 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/18 13:46:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:46:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_049 [save_utils.py: 785] +05/18 13:46:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_049 in 12.57s (batch: 3.60s, save: 8.97s) [pipeline.py: 300] +05/18 13:46:10 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=7.45s: + episode_total: mean=111.62s, total=223.24s, count=2, min=51155.1ms, max=172085.5ms + sensor_polling: mean=451.2ms, total=122.28s, count=271, min=438.0ms, max=548.1ms + save_trajectories: mean=8.97s, total=8.97s, count=1, min=8970.5ms, max=8970.5ms + physics_step: mean=30.5ms, total=8.27s, count=271, min=23.2ms, max=40.3ms + task_sampling: mean=3.72s, total=7.45s, count=2, min=538.2ms, max=6907.9ms + scene_load: mean=6.31s, total=6.31s, count=1, min=6310.8ms, max=6310.8ms + scene_env_create: mean=4.03s, total=4.03s, count=1, min=4032.9ms, max=4032.9ms + save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3602.5ms, max=3602.5ms + scene_compile: mean=1.88s, total=1.88s, count=1, min=1881.7ms, max=1881.7ms + task_specific_sample: mean=564.2ms, total=1.13s, count=2, min=535.2ms, max=593.2ms + compile_mujoco: mean=1.05s, total=1.05s, count=1, min=1051.7ms, max=1051.7ms + compile_xml_load: mean=712.4ms, total=712.4ms, count=1, min=712.4ms, max=712.4ms + scene_asset_install: mean=273.1ms, total=273.1ms, count=1, min=273.1ms, max=273.1ms + asset_install_objects: mean=172.0ms, total=172.0ms, count=1, min=172.0ms, max=172.0ms + scene_init: mean=122.7ms, total=122.7ms, count=1, min=122.7ms, max=122.7ms + asset_install_grasps: mean=97.2ms, total=97.2ms, count=1, min=97.2ms, max=97.2ms + compile_aux_objects: mean=76.7ms, total=76.7ms, count=1, min=76.7ms, max=76.7ms + compile_aux_policy_objects: mean=76.7ms, total=76.7ms, count=1, min=76.7ms, max=76.7ms + compile_robot_add: mean=29.7ms, total=29.7ms, count=1, min=29.7ms, max=29.7ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + scene_randomize: mean=1.5ms, total=3.1ms, count=2, min=1.5ms, max=1.6ms + mj_forward_sync: mean=516.5us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=25.8us, total=0.1ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:46:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:12 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 13:46:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151862m [env.py: 870] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -124.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.16474831 -1.36115673 -0.1518624 ] yaw=-8.2deg [env.py: 1019] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.6ms, total=235.6ms [env.py: 1075] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.165, -1.361, -0.152) [env.py: 1079] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -8.2 deg [env.py: 1082] +05/18 13:46:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/18 13:46:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:12 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.149s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:12 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 13:46:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.341s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:16 INFO: [Worker 0] Feasible grasp found 260 (originally 260): w/ 0.733[m] 85.219[deg] [grasp_sample.py: 596] +05/18 13:46:17 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:46:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:19 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 13:46:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:19 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 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172165m [env.py: 870] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.66712025 -0.80177254 -0.17216488] yaw=-68.8deg [env.py: 1019] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38862696 -1.0371546 -0.17216488] yaw=-75.4deg [env.py: 1019] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.83183143 -0.63847742 -0.17216488] yaw=-106.7deg [env.py: 1019] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=179.4ms, total=179.5ms [env.py: 1075] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.667, -0.802, -0.172) [env.py: 1079] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.8 deg [env.py: 1082] +05/18 13:46:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/18 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:20 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:20 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 13:46:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.306s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:25 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.655[m] 93.875[deg] [grasp_sample.py: 596] +05/18 13:46:27 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:46:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:46:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:29 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 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125432m [env.py: 870] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.07450142 -1.27864175 -0.12543161] yaw=-8.5deg [env.py: 1019] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 40.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 87.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.14696993 -1.3022551 -0.12543161] yaw=-46.9deg [env.py: 1019] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=227.5ms, total=227.5ms [env.py: 1075] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.075, -1.279, -0.125) [env.py: 1079] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -8.5 deg [env.py: 1082] +05/18 13:46:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m [env.py: 1086] +05/18 13:46:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:29 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:46:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.144s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.065s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:46:34 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:46:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:36 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 13:46:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.158m, effective arm-mount z=0.702m (base_body_z=-0.158m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157840m [env.py: 870] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.40016879 -1.11686149 -0.15784033] yaw=-32.2deg [env.py: 1019] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.44037015 -0.98281392 -0.15784033] yaw=-79.3deg [env.py: 1019] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.3ms, total=224.4ms [env.py: 1075] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.400, -1.117, -0.158) [env.py: 1079] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.2 deg [env.py: 1082] +05/18 13:46:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.824m [env.py: 1086] +05/18 13:46:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:37 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:37 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 13:46:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.678s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:40 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.670[m] 92.149[deg] [grasp_sample.py: 596] +05/18 13:46:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:46:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:46:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:46:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:47:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:48:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:48:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:49:07 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:49:27 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/dresser/sim_chunks/chunk_049 [pipeline.py: 1174] +05/18 13:49:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_049 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:49:27 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/18 13:49:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:49:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_049 [save_utils.py: 785] +05/18 13:49:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_049 in 12.83s (batch: 3.56s, save: 9.28s) [pipeline.py: 300] +05/18 13:49:40 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=True episode_total=2.09s: + episode_total: mean=50.80s, total=203.21s, count=4, min=5738.6ms, max=183954.4ms + sensor_polling: mean=455.1ms, total=125.15s, count=275, min=435.2ms, max=594.6ms + save_trajectories: mean=9.28s, total=9.28s, count=1, min=9275.3ms, max=9275.3ms + physics_step: mean=29.9ms, total=8.22s, count=275, min=21.7ms, max=36.2ms + save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3559.5ms, max=3559.5ms + task_sampling: mean=522.9ms, total=2.09s, count=4, min=479.4ms, max=556.5ms + task_specific_sample: mean=519.1ms, total=2.08s, count=4, min=474.7ms, max=552.2ms + scene_randomize: mean=1.9ms, total=7.5ms, count=4, min=1.4ms, max=2.7ms + mj_forward_sync: mean=588.8us, total=2.4ms, count=4, min=0.5ms, max=0.7ms + policy_setup: mean=27.0us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:49:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:49:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:49:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:49:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:49:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:49:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:49:42 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 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141896m [env.py: 870] +05/18 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:49:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 160.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 54.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.72432064 -0.8584402 -0.14189575] yaw=-90.5deg [env.py: 1019] +05/18 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:49:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.5ms, total=234.5ms [env.py: 1075] +05/18 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.724, -0.858, -0.142) [env.py: 1079] +05/18 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -90.5 deg [env.py: 1082] +05/18 13:49:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.901m [env.py: 1086] +05/18 13:49:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:49:42 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 13:49:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/18 13:49:42 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 13:49:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:49:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:49:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.616s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:49:44 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.791[m] 110.379[deg] [grasp_sample.py: 596] +05/18 13:49:46 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:49:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:49:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:49:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:49:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:49:48 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 13:49:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:49:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194014m [env.py: 870] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:49:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -95.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38237946 -1.15455462 -0.19401374] yaw=-49.8deg [env.py: 1019] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:49:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=427.7ms, total=427.8ms [env.py: 1075] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.382, -1.155, -0.194) [env.py: 1079] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg [env.py: 1082] +05/18 13:49:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.809m [env.py: 1086] +05/18 13:49:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:49:48 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 13:49:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 13:49:48 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 13:49:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:49:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:49:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.030s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:49:54 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.621[m] 108.731[deg] [grasp_sample.py: 596] +05/18 13:49:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:49:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:49:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:49:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:50:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:51:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:51:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:52:00 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:52:20 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/dresser/sim_chunks/chunk_049 [pipeline.py: 1174] +05/18 13:52:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_049 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:52:20 INFO: [Worker 0] Preparing episode data: 259 timesteps [save_utils.py: 278] +05/18 13:52:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:52:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_049 [save_utils.py: 785] +05/18 13:52:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_049 in 12.20s (batch: 3.53s, save: 8.67s) [pipeline.py: 300] +05/18 13:52:32 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.27s: + episode_total: mean=84.46s, total=168.93s, count=2, min=4073.7ms, max=164856.0ms + sensor_polling: mean=449.9ms, total=116.08s, count=258, min=426.5ms, max=578.7ms + save_trajectories: mean=8.67s, total=8.67s, count=1, min=8671.0ms, max=8671.0ms + physics_step: mean=30.2ms, total=7.80s, count=258, min=22.6ms, max=45.0ms + save_batch_prep: mean=3.53s, total=3.53s, count=1, min=3532.1ms, max=3532.1ms + task_sampling: mean=636.0ms, total=1.27s, count=2, min=547.8ms, max=724.2ms + task_specific_sample: mean=632.5ms, total=1.27s, count=2, min=544.1ms, max=720.9ms + scene_randomize: mean=1.8ms, total=3.7ms, count=2, min=1.4ms, max=2.3ms + mj_forward_sync: mean=523.3us, total=1.0ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=23.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:52:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136449m [env.py: 870] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.62530414 -0.87069122 -0.13644934] yaw=-49.0deg [env.py: 1019] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.51665758 -1.02828035 -0.13644934] yaw=-37.3deg [env.py: 1019] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 26.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=239.0ms, total=239.1ms [env.py: 1075] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.625, -0.871, -0.136) [env.py: 1079] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.0 deg [env.py: 1082] +05/18 13:52:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.920m [env.py: 1086] +05/18 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:35 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.675s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:37 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.724[m] 106.102[deg] [grasp_sample.py: 596] +05/18 13:52:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:52:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:52:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:52:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:52:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:53:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:53:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:53:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:53:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:53:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.045s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:53:13 INFO: [Worker 0] Feasible grasp found 318 (originally 11): w/ 0.656[m] 93.653[deg] [grasp_sample.py: 596] +05/18 13:53:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:53:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:53:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:53:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:53:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:53:30 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 13:53:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:53:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:53:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.784s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:53:37 INFO: [Worker 0] Feasible grasp found 565 (originally 258): w/ 0.658[m] 91.960[deg] [grasp_sample.py: 596] +05/18 13:53:38 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:53:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:53:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:53:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:53:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:53:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:53:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:53:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:53:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:53:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:53:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150834m [env.py: 870] +05/18 13:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:53:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -156.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 85.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=226.2ms, total=226.3ms [env.py: 1105] +05/18 13:53:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:53:40 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:53:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:53:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:53:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:53:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:53:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:53:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:53:42 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 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168488m [env.py: 870] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:53:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.60368708 -0.69234372 -0.16848833] yaw=-98.0deg [env.py: 1019] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.35435871 -1.0045139 -0.16848833] yaw=-71.1deg [env.py: 1019] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:53:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=231.5ms, total=231.5ms [env.py: 1075] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.604, -0.692, -0.168) [env.py: 1079] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.0 deg [env.py: 1082] +05/18 13:53:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/18 13:53:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:53:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:53:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:53:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:53:42 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 13:53:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 13:53:42 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 13:53:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:53:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:53:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.921s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:53:48 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:53:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:53:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:53:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:53:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:53:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:53:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:53:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:53:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:53:49 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 13:53:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:53:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115178m [env.py: 870] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:53:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.23340942 -1.03830642 -0.11517772] yaw=-50.3deg [env.py: 1019] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 6.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.78796849 -0.88593459 -0.11517772] yaw=-68.8deg [env.py: 1019] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:53:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=227.6ms, total=227.7ms [env.py: 1075] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.233, -1.038, -0.115) [env.py: 1079] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/18 13:53:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/18 13:53:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:53:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:53:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:53:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:53:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:53:50 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 13:53:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 13:53:50 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 13:53:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:53:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:53:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.417s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:53:58 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.700[m] 94.852[deg] [grasp_sample.py: 596] +05/18 13:54:00 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:54:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:54:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:54:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:54:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:54:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:54:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123171m [env.py: 870] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:54:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41803117 -0.99774651 -0.12317141] yaw=-34.1deg [env.py: 1019] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -177.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.17674384 -1.43402285 -0.12317141] yaw=-36.9deg [env.py: 1019] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:54:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=237.8ms, total=237.8ms [env.py: 1075] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -0.998, -0.123) [env.py: 1079] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.1 deg [env.py: 1082] +05/18 13:54:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/18 13:54:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:54:02 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 13:54:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/18 13:54:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:54:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:54:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:54:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.132s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:54:08 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.796[m] 99.254[deg] [grasp_sample.py: 596] +05/18 13:54:09 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:54:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:54:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:54:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:54:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:54:11 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 13:54:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:54:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179141m [env.py: 870] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:54:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.85534781 -0.79536041 -0.17914051] yaw=-66.0deg [env.py: 1019] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -35.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46957907 -0.80000091 -0.17914051] yaw=-68.9deg [env.py: 1019] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -103.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.13009972 -1.26894882 -0.17914051] yaw=-22.1deg [env.py: 1019] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:54:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=175.1ms, total=175.1ms [env.py: 1075] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.855, -0.795, -0.179) [env.py: 1079] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.0 deg [env.py: 1082] +05/18 13:54:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m [env.py: 1086] +05/18 13:54:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:54:11 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 13:54:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 13:54:12 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 13:54:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:54:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:54:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.450s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:54:18 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.647[m] 86.697[deg] [grasp_sample.py: 596] +05/18 13:54:18 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:54:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:54:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:19 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:55:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:55:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:55:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:55:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:55:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.252s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:55:25 INFO: [Worker 0] Feasible grasp found 63 (originally 63): w/ 0.174[m] 17.609[deg] [grasp_sample.py: 596] +05/18 13:55:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:55:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:55:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:55:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:55:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:55:42 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 13:55:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:55:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.260s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:55:43 INFO: [Worker 0] Feasible grasp found 63 (originally 63): w/ 0.174[m] 17.610[deg] [grasp_sample.py: 596] +05/18 13:55:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:55:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:55:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:55:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:55:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:55:59 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 13:55:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.222s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:56:01 INFO: [Worker 0] Feasible grasp found 63 (originally 63): w/ 0.174[m] 17.610[deg] [grasp_sample.py: 596] +05/18 13:56:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:56:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:56:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:56:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:56:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:56:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 13:56:18 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 13:56:18 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=False episode_total=2.63s: + episode_total: mean=35.85s, total=215.08s, count=6, min=238.1ms, max=126684.9ms + sensor_polling: mean=448.0ms, total=77.96s, count=174, min=427.0ms, max=557.4ms + physics_step: mean=27.1ms, total=4.72s, count=174, min=19.9ms, max=36.8ms + task_specific_sample: mean=474.5ms, total=2.85s, count=6, min=232.4ms, max=550.8ms + task_sampling: mean=526.3ms, total=2.63s, count=5, min=477.5ms, max=554.7ms + task_sampling_failed: mean=238.0ms, total=238.0ms, count=1, min=238.0ms, max=238.0ms + scene_randomize: mean=1.8ms, total=10.8ms, count=6, min=1.5ms, max=2.4ms + mj_forward_sync: mean=544.4us, total=3.3ms, count=6, min=0.5ms, max=0.6ms + policy_setup: mean=20.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:56:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:56:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103723m [env.py: 870] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46922578 -0.9755643 -0.10372323] yaw=-62.1deg [env.py: 1019] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.7580269 -0.69843269 -0.10372323] yaw=-73.6deg [env.py: 1019] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.44163262 -0.81047209 -0.10372323] yaw=-73.8deg [env.py: 1019] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:56:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=169.3ms, total=169.3ms [env.py: 1075] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.469, -0.976, -0.104) [env.py: 1079] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.1 deg [env.py: 1082] +05/18 13:56:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/18 13:56:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:56:20 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 13:56:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 13:56:20 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 13:56:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.138s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:56:29 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.800[m] 76.221[deg] [grasp_sample.py: 596] +05/18 13:56:31 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:56:31 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 13:56:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:56:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111054m [env.py: 870] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 33.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.1975901 -1.38252958 -0.11105406] yaw=-13.0deg [env.py: 1019] +05/18 13:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -104.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:56:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=223.5ms, total=223.6ms [env.py: 1075] +05/18 13:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.198, -1.383, -0.111) [env.py: 1079] +05/18 13:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.0 deg [env.py: 1082] +05/18 13:56:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/18 13:56:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:56:33 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 13:56:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 13:56:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:56:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.114s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:56:36 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.733[m] 73.181[deg] [grasp_sample.py: 596] +05/18 13:56:38 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:56:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:56:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155626m [env.py: 870] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.46576158 -1.06708566 -0.15562576] yaw=-51.5deg [env.py: 1019] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:56:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.0ms, total=222.1ms [env.py: 1075] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.466, -1.067, -0.156) [env.py: 1079] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.5 deg [env.py: 1082] +05/18 13:56:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.822m [env.py: 1086] +05/18 13:56:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:56:40 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 13:56:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/18 13:56:40 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 13:56:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.929s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:56:45 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.592[m] 100.163[deg] [grasp_sample.py: 596] +05/18 13:56:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:56:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:56:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:56:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:57:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:57:55 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:57:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:58:54 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:59:13 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/dresser/sim_chunks/chunk_049 [pipeline.py: 1174] +05/18 13:59:13 INFO: [Worker 0] Batching and saving trajectory data for chunk_049 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:59:13 INFO: [Worker 0] Preparing episode data: 253 timesteps [save_utils.py: 278] +05/18 13:59:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:59:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_049 [save_utils.py: 785] +05/18 13:59:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_049 in 11.74s (batch: 3.41s, save: 8.33s) [pipeline.py: 300] +05/18 13:59:25 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=1.52s: + episode_total: mean=60.92s, total=182.77s, count=3, min=5450.4ms, max=165872.9ms + sensor_polling: mean=451.0ms, total=113.66s, count=252, min=426.1ms, max=572.5ms + save_trajectories: mean=8.33s, total=8.33s, count=1, min=8328.6ms, max=8328.6ms + physics_step: mean=31.0ms, total=7.82s, count=252, min=21.9ms, max=49.0ms + save_batch_prep: mean=3.41s, total=3.41s, count=1, min=3409.8ms, max=3409.8ms + task_sampling: mean=505.2ms, total=1.52s, count=3, min=473.0ms, max=524.5ms + task_specific_sample: mean=501.8ms, total=1.51s, count=3, min=469.7ms, max=520.6ms + scene_randomize: mean=1.6ms, total=4.8ms, count=3, min=1.4ms, max=1.8ms + mj_forward_sync: mean=570.0us, total=1.7ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=17.3us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:59:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:59:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:27 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 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109366m [env.py: 870] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.28935726 -1.13171503 -0.10936572] yaw=-33.1deg [env.py: 1019] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0774343 -1.39469014 -0.10936572] yaw=-14.2deg [env.py: 1019] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -59.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.03292401 -1.15161426 -0.10936572] yaw=-45.1deg [env.py: 1019] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.5ms, total=222.6ms [env.py: 1075] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.289, -1.132, -0.109) [env.py: 1079] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.1 deg [env.py: 1082] +05/18 13:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/18 13:59:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:28 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:59:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.006s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:59:33 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.707[m] 125.872[deg] [grasp_sample.py: 596] +05/18 13:59:35 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:59:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:59:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126548m [env.py: 870] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -112.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.00898411 -1.37695012 -0.12654823] yaw=-9.3deg [env.py: 1019] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -149.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.73160072 -0.86035273 -0.12654823] yaw=-64.7deg [env.py: 1019] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.24314434 -1.26354623 -0.12654823] yaw=-62.1deg [env.py: 1019] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=218.6ms, total=218.6ms [env.py: 1075] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.009, -1.377, -0.127) [env.py: 1079] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -9.3 deg [env.py: 1082] +05/18 13:59:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:37 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:37 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 13:59:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.819s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:59:42 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:59:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:59:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150300m [env.py: 870] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.73937681 -0.88710976 -0.1502999 ] yaw=-76.1deg [env.py: 1019] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.07101226 -1.36151261 -0.1502999 ] yaw=-18.0deg [env.py: 1019] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.26717246 -0.90649041 -0.1502999 ] yaw=-39.4deg [env.py: 1019] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.4ms, total=156.5ms [env.py: 1075] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.739, -0.887, -0.150) [env.py: 1079] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.1 deg [env.py: 1082] +05/18 13:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m [env.py: 1086] +05/18 13:59:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:44 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:44 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 13:59:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:44 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 11.358s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:59:56 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.770[m] 88.193[deg] [grasp_sample.py: 596] +05/18 13:59:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:59:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:59:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:59:57 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 14:00:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:00:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:00:32 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 14:00:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.531s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:00:36 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.610[m] 62.249[deg] [grasp_sample.py: 596] +05/18 14:00:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:00:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:00:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:00:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:00:52 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 14:00:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.546s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:00:55 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.610[m] 62.249[deg] [grasp_sample.py: 596] +05/18 14:00:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:00:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:00:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:01:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:01:11 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 14:01:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:01:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.545s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:01:14 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.610[m] 62.249[deg] [grasp_sample.py: 596] +05/18 14:01:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:01:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:01:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:01:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:01:30 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:01:30 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:01:30 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=False episode_total=1.53s: + episode_total: mean=40.01s, total=120.04s, count=3, min=5605.0ms, max=106950.8ms + sensor_polling: mean=452.2ms, total=34.37s, count=76, min=437.3ms, max=525.0ms + physics_step: mean=26.0ms, total=1.98s, count=76, min=19.6ms, max=32.0ms + task_sampling: mean=509.2ms, total=1.53s, count=3, min=456.3ms, max=546.0ms + task_specific_sample: mean=505.4ms, total=1.52s, count=3, min=453.3ms, max=542.2ms + scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.5ms, max=2.4ms + mj_forward_sync: mean=568.3us, total=1.7ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=20.0us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:01:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:01:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:01:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:01:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:01:32 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 14:01:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:01:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159037m [env.py: 870] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:01:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 3.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.12599746 -1.15620998 -0.15903732] yaw=-32.8deg [env.py: 1019] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:01:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=229.3ms, total=229.3ms [env.py: 1075] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.126, -1.156, -0.159) [env.py: 1079] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.8 deg [env.py: 1082] +05/18 14:01:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/18 14:01:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:01:33 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 14:01:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 14:01:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:01:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:01:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.894s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:01:38 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:01:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:01:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:01:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:01:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:01:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:01:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:01:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198277m [env.py: 870] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:01:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -17.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.29291826 -1.07404421 -0.19827696] yaw=-53.5deg [env.py: 1019] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.77673876 -0.68450893 -0.19827696] yaw=-71.1deg [env.py: 1019] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.4378137 -0.76797269 -0.19827696] yaw=-86.0deg [env.py: 1019] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:01:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=235.7ms, total=235.7ms [env.py: 1075] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.293, -1.074, -0.198) [env.py: 1079] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.5 deg [env.py: 1082] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/18 14:01:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:01:40 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 14:01:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 14:01:40 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 14:01:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:01:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.302s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:01:48 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.579[m] 87.332[deg] [grasp_sample.py: 596] +05/18 14:01:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:01:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:01:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:01:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:02:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:02:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:03:51 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:04:09 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/dresser/sim_chunks/chunk_049 [pipeline.py: 1174] +05/18 14:04:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_049 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:04:09 INFO: [Worker 0] Preparing episode data: 250 timesteps [save_utils.py: 278] +05/18 14:04:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:04:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_049 [save_utils.py: 785] +05/18 14:04:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_049 in 11.74s (batch: 3.49s, save: 8.25s) [pipeline.py: 300] +05/18 14:04:22 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=1.09s: + episode_total: mean=83.91s, total=167.82s, count=2, min=5684.0ms, max=162137.0ms + sensor_polling: mean=454.7ms, total=113.23s, count=249, min=440.7ms, max=588.0ms + save_trajectories: mean=8.25s, total=8.25s, count=1, min=8249.6ms, max=8249.6ms + physics_step: mean=30.4ms, total=7.57s, count=249, min=22.9ms, max=39.4ms + save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3485.7ms, max=3485.7ms + task_sampling: mean=545.3ms, total=1.09s, count=2, min=542.0ms, max=548.6ms + task_specific_sample: mean=541.8ms, total=1.08s, count=2, min=538.8ms, max=544.9ms + scene_randomize: mean=1.6ms, total=3.2ms, count=2, min=1.5ms, max=1.7ms + mj_forward_sync: mean=570.7us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=18.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:04:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:23 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 14:04:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174987m [env.py: 870] +05/18 14:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -38.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -125.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -97.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.36302776 -0.82362475 -0.17498673] yaw=-59.9deg [env.py: 1019] +05/18 14:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:04:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=231.4ms, total=231.4ms [env.py: 1075] +05/18 14:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.363, -0.824, -0.175) [env.py: 1079] +05/18 14:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.9 deg [env.py: 1082] +05/18 14:04:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/18 14:04:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:04:24 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 14:04:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/18 14:04:24 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 14:04:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.880s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:04:29 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:04:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:31 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 14:04:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180762m [env.py: 870] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -156.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24115365 -1.14888288 -0.1807618 ] yaw=-67.8deg [env.py: 1019] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:04:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=222.3ms, total=222.3ms [env.py: 1075] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.241, -1.149, -0.181) [env.py: 1079] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.8 deg [env.py: 1082] +05/18 14:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/18 14:04:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:04:31 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 14:04:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/18 14:04:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:04:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 20.263s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:04:52 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.770[m] 112.321[deg] [grasp_sample.py: 596] +05/18 14:04:53 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:04:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:04:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:55 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 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191835m [env.py: 870] +05/18 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -79.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.72186649 -0.92053676 -0.19183522] yaw=-49.0deg [env.py: 1019] +05/18 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:04:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=228.8ms, total=228.9ms [env.py: 1075] +05/18 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.722, -0.921, -0.192) [env.py: 1079] +05/18 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.0 deg [env.py: 1082] +05/18 14:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.842m [env.py: 1086] +05/18 14:04:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:04:56 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 14:04:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 14:04:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:04:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.461s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:04:58 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.683[m] 87.829[deg] [grasp_sample.py: 596] +05/18 14:04:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:04:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:04:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:04:59 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 14:06:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:06:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:06:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:07:15 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:07:35 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/dresser/sim_chunks/chunk_049 [pipeline.py: 1174] +05/18 14:07:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_049 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:07:35 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/18 14:07:47 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:07:47 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_049 [save_utils.py: 785] +05/18 14:07:47 INFO: [Worker 0] Successfully saved trajectory data for chunk_049 in 12.53s (batch: 3.46s, save: 9.07s) [pipeline.py: 300] +05/18 14:07:48 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=1.62s: + episode_total: mean=66.97s, total=200.90s, count=3, min=5702.0ms, max=172597.2ms + sensor_polling: mean=452.9ms, total=124.54s, count=275, min=431.4ms, max=563.4ms + save_trajectories: mean=9.07s, total=9.07s, count=1, min=9073.1ms, max=9073.1ms + physics_step: mean=29.6ms, total=8.15s, count=275, min=22.7ms, max=38.2ms + save_batch_prep: mean=3.46s, total=3.46s, count=1, min=3456.1ms, max=3456.1ms + task_sampling: mean=539.1ms, total=1.62s, count=3, min=520.7ms, max=557.4ms + task_specific_sample: mean=535.3ms, total=1.61s, count=3, min=517.3ms, max=552.9ms + scene_randomize: mean=2.0ms, total=6.0ms, count=3, min=1.5ms, max=2.9ms + mj_forward_sync: mean=598.1us, total=1.8ms, count=3, min=0.5ms, max=0.7ms + policy_setup: mean=19.9us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:07:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:49 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 14:07:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138087m [env.py: 870] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36597727 -1.18022887 -0.13808731] yaw=-36.9deg [env.py: 1019] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.50712829 -0.87412215 -0.13808731] yaw=-77.0deg [env.py: 1019] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.50562105 -0.9925995 -0.13808731] yaw=-71.9deg [env.py: 1019] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:07:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=135.9ms, total=135.9ms [env.py: 1075] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -1.180, -0.138) [env.py: 1079] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.9 deg [env.py: 1082] +05/18 14:07:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m [env.py: 1086] +05/18 14:07:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:07:50 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 14:07:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/18 14:07:50 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 14:07:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:07:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.951s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:07:55 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.625[m] 71.577[deg] [grasp_sample.py: 596] +05/18 14:07:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:07:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:07:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:07:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:08:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:09:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:09:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:09:25 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:09:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:09:25 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 14:09:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:09:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.239s, found 85 non-colliding grasps [grasp_sample.py: 520] +05/18 14:09:26 INFO: [Worker 0] Feasibility-checked 85 grasps in 0.799s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:09:26 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.033[m] 4.393[deg] [grasp_sample.py: 596] +05/18 14:09:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:09:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:09:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:09:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:09:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:09:45 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 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:10:48 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/dresser/sim_chunks/chunk_049 [pipeline.py: 1174] +05/18 14:10:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_049 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:10:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:11:02 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:11:02 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_049 [save_utils.py: 785] +05/18 14:11:02 INFO: [Worker 0] Successfully saved trajectory data for chunk_049 in 13.63s (batch: 3.56s, save: 10.07s) [pipeline.py: 300] +05/18 14:11:02 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.46s: + episode_total: mean=193.01s, total=193.01s, count=1, min=193013.0ms, max=193013.0ms + sensor_polling: mean=453.1ms, total=135.93s, count=300, min=430.5ms, max=562.1ms + save_trajectories: mean=10.07s, total=10.07s, count=1, min=10071.6ms, max=10071.6ms + physics_step: mean=30.3ms, total=9.10s, count=300, min=21.6ms, max=43.0ms + save_batch_prep: mean=3.56s, total=3.56s, count=1, min=3556.9ms, max=3556.9ms + task_sampling: mean=463.5ms, total=463.5ms, count=1, min=463.5ms, max=463.5ms + task_specific_sample: mean=459.2ms, total=459.2ms, count=1, min=459.2ms, max=459.2ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=553.8us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=19.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:11:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:04 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 14:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119518m [env.py: 870] +05/18 14:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.79807025 -0.75933356 -0.11951818] yaw=-55.6deg [env.py: 1019] +05/18 14:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=226.2ms, total=226.2ms [env.py: 1075] +05/18 14:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.798, -0.759, -0.120) [env.py: 1079] +05/18 14:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.6 deg [env.py: 1082] +05/18 14:11:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/18 14:11:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:04 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:11:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.392s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:09 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.948[m] 70.093[deg] [grasp_sample.py: 596] +05/18 14:11:11 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:11:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:12 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 14:11:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135502m [env.py: 870] +05/18 14:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 38.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -121.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -81.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=226.6ms, total=226.6ms [env.py: 1105] +05/18 14:11:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:11:13 ERROR: [Worker 0] Worker 0 house 1 episode 27 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:11:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181101m [env.py: 870] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.66404431 -0.90235794 -0.18110116] yaw=-86.0deg [env.py: 1019] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.19922394 -1.21550848 -0.18110116] yaw=-20.8deg [env.py: 1019] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.89148103 -0.66850428 -0.18110116] yaw=-100.2deg [env.py: 1019] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.7ms, total=156.7ms [env.py: 1075] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.664, -0.902, -0.181) [env.py: 1079] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.0 deg [env.py: 1082] +05/18 14:11:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +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 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:15 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:11:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.558s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:18 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.558[m] 95.572[deg] [grasp_sample.py: 596] +05/18 14:11:19 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:11:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106824m [env.py: 870] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.58528795 -0.79737988 -0.10682383] yaw=-54.9deg [env.py: 1019] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.79414022 -0.81100297 -0.10682383] yaw=-109.0deg [env.py: 1019] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.28363004 -0.95746551 -0.10682383] yaw=-55.5deg [env.py: 1019] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=192.7ms, total=192.7ms [env.py: 1075] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.585, -0.797, -0.107) [env.py: 1079] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg [env.py: 1082] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:21 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:22 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 14:11:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.591s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:38 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.867[m] 96.610[deg] [grasp_sample.py: 596] +05/18 14:11:40 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:11:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164403m [env.py: 870] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 30.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -127.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30431575 -1.17130284 -0.16440294] yaw=-44.9deg [env.py: 1019] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -85.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.18486258 -1.19786393 -0.16440294] yaw=-46.7deg [env.py: 1019] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.8ms, total=240.9ms [env.py: 1075] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.304, -1.171, -0.164) [env.py: 1079] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.9 deg [env.py: 1082] +05/18 14:11:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/18 14:11:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:42 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:42 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 14:11:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.004s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:47 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.684[m] 103.988[deg] [grasp_sample.py: 596] +05/18 14:11:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:11:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:11:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:11:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:12:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:13:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:13:09 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:06 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:14:27 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/dresser/sim_chunks/chunk_049 [pipeline.py: 1174] +05/18 14:14:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_049 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:14:27 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/18 14:14:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:14:39 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_049 [save_utils.py: 785] +05/18 14:14:39 INFO: [Worker 0] Successfully saved trajectory data for chunk_049 in 12.49s (batch: 3.60s, save: 8.89s) [pipeline.py: 300] +05/18 14:14:40 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=2.04s: + episode_total: mean=41.77s, total=208.86s, count=5, min=238.4ms, max=177895.7ms + sensor_polling: mean=472.7ms, total=127.17s, count=269, min=447.8ms, max=609.0ms + save_trajectories: mean=8.89s, total=8.89s, count=1, min=8890.9ms, max=8890.9ms + physics_step: mean=31.7ms, total=8.54s, count=269, min=23.9ms, max=46.8ms + save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3602.0ms, max=3602.0ms + task_specific_sample: mean=451.7ms, total=2.26s, count=5, min=232.8ms, max=543.6ms + task_sampling: mean=509.8ms, total=2.04s, count=4, min=457.7ms, max=547.4ms + task_sampling_failed: mean=238.3ms, total=238.3ms, count=1, min=238.3ms, max=238.3ms + scene_randomize: mean=1.8ms, total=8.8ms, count=5, min=1.5ms, max=2.2ms + mj_forward_sync: mean=549.1us, total=2.7ms, count=5, min=0.5ms, max=0.6ms + policy_setup: mean=18.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:14:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:41 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 14:14:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132089m [env.py: 870] +05/18 14:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 44.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=234.3ms, total=234.4ms [env.py: 1105] +05/18 14:14:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:14:41 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:14:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:14:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131741m [env.py: 870] +05/18 14:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.29577548 -1.04747079 -0.1317407 ] yaw=-57.3deg [env.py: 1019] +05/18 14:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -177.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 48.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.9ms, total=233.9ms [env.py: 1075] +05/18 14:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -1.047, -0.132) [env.py: 1079] +05/18 14:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.3 deg [env.py: 1082] +05/18 14:14:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/18 14:14:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:44 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:14:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.516s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:52 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.754[m] 76.085[deg] [grasp_sample.py: 596] +05/18 14:14:53 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:14:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:14:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141182m [env.py: 870] +05/18 14:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -149.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 55.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=230.1ms, total=230.2ms [env.py: 1105] +05/18 14:14:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:14:55 ERROR: [Worker 0] Worker 0 house 1 episode 33 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:14:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:14:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185289m [env.py: 870] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 63.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -59.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[-0.03656859 -1.30522647 -0.18528919] yaw=-35.6deg [env.py: 1019] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.0ms, total=235.0ms [env.py: 1075] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.037, -1.305, -0.185) [env.py: 1079] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.6 deg [env.py: 1082] +05/18 14:14:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.075m [env.py: 1086] +05/18 14:14:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:57 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:58 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 14:14:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.021s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:15:03 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:15:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:15:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:15:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:15:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:15:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:15:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139344m [env.py: 870] +05/18 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:15:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:15:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 20.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.11193863 -1.2463084 -0.13934371] yaw=-30.5deg [env.py: 1019] +05/18 14:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:15:05 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 14:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.112, -1.246, -0.139) [env.py: 1079] +05/18 14:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -30.5 deg [env.py: 1082] +05/18 14:15:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/18 14:15:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:15:05 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 14:15:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 14:15:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:15:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.245s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:15:16 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:15:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:15:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:15:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:15:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:15:17 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 14:15:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:15:17 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 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170041m [env.py: 870] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:15:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -107.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -174.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.36825822 -0.99124231 -0.17004104] yaw=-70.4deg [env.py: 1019] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25651104 -1.24681275 -0.17004104] yaw=-44.0deg [env.py: 1019] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39870013 -1.06381249 -0.17004104] yaw=-72.0deg [env.py: 1019] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:15:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=224.3ms, total=224.4ms [env.py: 1075] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.368, -0.991, -0.170) [env.py: 1079] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.4 deg [env.py: 1082] +05/18 14:15:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.941m [env.py: 1086] +05/18 14:15:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:15:18 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 14:15:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/18 14:15:18 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 14:15:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.512s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:15:27 INFO: [Worker 0] Feasible grasp found 377 (originally 70): w/ 0.625[m] 126.127[deg] [grasp_sample.py: 596] +05/18 14:15:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:15:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:15:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:15:28 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 14:16:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:16:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:16:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:16:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:16:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.329s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:16:47 INFO: [Worker 0] Feasible grasp found 535 (originally 228): w/ 0.178[m] 23.641[deg] [grasp_sample.py: 596] +05/18 14:16:49 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:16:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:16:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:16:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:16:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:16:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:16:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:16:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106945m [env.py: 870] +05/18 14:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:16:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -64.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=240.3ms, total=240.3ms [env.py: 1105] +05/18 14:16:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:16:51 ERROR: [Worker 0] Worker 0 house 1 episode 37 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:16:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:16:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:16:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:16:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:16:53 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 14:16:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:16:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116502m [env.py: 870] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:16:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.55579704 -0.94086903 -0.1165019 ] yaw=-86.1deg [env.py: 1019] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -0.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.66048688 -0.73436751 -0.1165019 ] yaw=-102.3deg [env.py: 1019] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:16:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.1ms, total=240.1ms [env.py: 1075] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.556, -0.941, -0.117) [env.py: 1079] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.1 deg [env.py: 1082] +05/18 14:16:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/18 14:16:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:16:53 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 14:16:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 14:16:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:16:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:16:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 41.925s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:17:35 INFO: [Worker 0] Feasible grasp found 477 (originally 170): w/ 0.744[m] 99.538[deg] [grasp_sample.py: 596] +05/18 14:17:37 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:17:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:39 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 14:17:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173117m [env.py: 870] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -86.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.17307168 -1.15673133 -0.17311672] yaw=-56.4deg [env.py: 1019] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.71248288 -0.9287234 -0.17311672] yaw=-101.3deg [env.py: 1019] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=252.0ms, total=252.1ms [env.py: 1075] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.173, -1.157, -0.173) [env.py: 1079] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg [env.py: 1082] +05/18 14:17:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/18 14:17:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:39 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:39 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 14:17:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.875s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:17:45 INFO: [Worker 0] Feasible grasp found 94 (originally 94): w/ 0.747[m] 99.470[deg] [grasp_sample.py: 596] +05/18 14:17:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:17:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:17:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:17:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:18:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:19:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:19:13 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:19:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:19:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:19:34 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 14:19:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.197s, found 194 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:42 INFO: [Worker 0] Feasibility-checked 194 grasps in 8.562s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:19:42 INFO: [Worker 0] Feasible grasp found 278 (originally 278): w/ 0.015[m] 63.096[deg] [grasp_sample.py: 596] +05/18 14:19:44 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:19:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:46 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 14:19:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151819m [env.py: 870] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21309382 -1.12805225 -0.15181921] yaw=-15.1deg [env.py: 1019] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.22309134 -1.2986035 -0.15181921] yaw=-3.9deg [env.py: 1019] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=237.3ms, total=237.4ms [env.py: 1075] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.213, -1.128, -0.152) [env.py: 1079] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.1 deg [env.py: 1082] +05/18 14:19:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086] +05/18 14:19:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:46 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +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 14:19:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.064s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:19:52 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.759[m] 102.590[deg] [grasp_sample.py: 596] +05/18 14:19:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:19:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:19:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:19:53 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 14:21:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:21:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:21:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:22:19 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:22:41 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/dresser/sim_chunks/chunk_049 [pipeline.py: 1174] +05/18 14:22:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_049 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:22:41 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/18 14:22:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:22:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_049 [save_utils.py: 785] +05/18 14:22:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_049 in 13.77s (batch: 3.63s, save: 10.14s) [pipeline.py: 300] +05/18 14:22:55 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=3.88s: + episode_total: mean=47.84s, total=478.36s, count=10, min=242.4ms, max=189398.2ms + sensor_polling: mean=464.7ms, total=280.67s, count=604, min=437.0ms, max=605.9ms + physics_step: mean=30.5ms, total=18.42s, count=604, min=22.0ms, max=42.7ms + save_trajectories: mean=10.14s, total=10.14s, count=1, min=10136.3ms, max=10136.3ms + task_specific_sample: mean=458.5ms, total=4.59s, count=10, min=237.0ms, max=577.2ms + task_sampling: mean=554.8ms, total=3.88s, count=7, min=541.7ms, max=580.7ms + save_batch_prep: mean=3.63s, total=3.63s, count=1, min=3632.6ms, max=3632.6ms + task_sampling_failed: mean=247.1ms, total=741.4ms, count=3, min=242.4ms, max=252.4ms + scene_randomize: mean=1.8ms, total=17.8ms, count=10, min=1.4ms, max=2.4ms + mj_forward_sync: mean=595.6us, total=6.0ms, count=10, min=0.5ms, max=0.7ms + policy_setup: mean=19.5us, total=0.1ms, count=7, 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 14:22:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:22:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156682m [env.py: 870] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -69.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.18895968 -1.13236772 -0.15668227] yaw=-28.0deg [env.py: 1019] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.50371703 -0.91522527 -0.15668227] yaw=-89.8deg [env.py: 1019] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.16508968 -1.43883249 -0.15668227] yaw=-45.5deg [env.py: 1019] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.8ms, retries=236.3ms, total=237.1ms [env.py: 1075] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.189, -1.132, -0.157) [env.py: 1079] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.0 deg [env.py: 1082] +05/18 14:22:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/18 14:22:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:22:57 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:58 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 14:22:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:23:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.213s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:23:17 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.782[m] 138.857[deg] [grasp_sample.py: 596] +05/18 14:23:19 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:23:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:23:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:23:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:23:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:23:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:23:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:23:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:23:20 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 14:23:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:23:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148686m [env.py: 870] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:23:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.83330784 -0.91987631 -0.14868582] yaw=-74.4deg [env.py: 1019] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.11116185 -1.41932611 -0.14868582] yaw=-0.4deg [env.py: 1019] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.01019595 -1.28659387 -0.14868582] yaw=-13.4deg [env.py: 1019] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:23:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.3ms, total=163.4ms [env.py: 1075] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.833, -0.920, -0.149) [env.py: 1079] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.4 deg [env.py: 1082] +05/18 14:23:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086] +05/18 14:23:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:23:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:23:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:23:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:23:21 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 14:23:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 14:23:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:23:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:23:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:23:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.919s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:23:25 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.525[m] 85.145[deg] [grasp_sample.py: 596] +05/18 14:23:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:23:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:23:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:23:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:24:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:24:37 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:24:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:25:40 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:25:59 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/dresser/sim_chunks/chunk_049 [pipeline.py: 1174] +05/18 14:25:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_049 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:25:59 INFO: [Worker 0] Preparing episode data: 243 timesteps [save_utils.py: 278] +05/18 14:26:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:26:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_049 [save_utils.py: 785] +05/18 14:26:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_049 in 11.42s (batch: 3.45s, save: 7.96s) [pipeline.py: 300] +05/18 14:26:11 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=1.04s: + episode_total: mean=96.03s, total=192.07s, count=2, min=21765.2ms, max=170300.2ms + sensor_polling: mean=478.1ms, total=115.71s, count=242, min=459.0ms, max=630.0ms + save_trajectories: mean=7.96s, total=7.96s, count=1, min=7963.3ms, max=7963.3ms + physics_step: mean=32.4ms, total=7.85s, count=242, min=24.4ms, max=38.2ms + save_batch_prep: mean=3.45s, total=3.45s, count=1, min=3454.7ms, max=3454.7ms + task_sampling: mean=520.8ms, total=1.04s, count=2, min=477.7ms, max=563.9ms + task_specific_sample: mean=517.0ms, total=1.03s, count=2, min=474.3ms, max=559.6ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.5ms, max=2.7ms + mj_forward_sync: mean=622.2us, total=1.2ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=19.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:26:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:26:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:26:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:26:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:26:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:26:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:26:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:26:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:26:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:26:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189532m [env.py: 870] +05/18 14:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:26:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.24173271 -0.99853632 -0.18953194] yaw=-26.3deg [env.py: 1019] +05/18 14:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 57.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.37808019 -1.08721482 -0.18953194] yaw=-40.9deg [env.py: 1019] +05/18 14:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:26:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=240.2ms, total=240.2ms [env.py: 1075] +05/18 14:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.242, -0.999, -0.190) [env.py: 1079] +05/18 14:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.3 deg [env.py: 1082] +05/18 14:26:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.019m [env.py: 1086] +05/18 14:26:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:26:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:26:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:26:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:26:13 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/18 14:26:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s [base_object_manipulation_planner_policy.py: 377] +05/18 14:26:13 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 14:26:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:26:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:26:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.886s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:26:20 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.762[m] 95.597[deg] [grasp_sample.py: 596] +05/18 14:26:22 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:26:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:26:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:26:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:26:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:26:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:26:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:26:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:26:23 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 14:26:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:26:23 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 14:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169633m [env.py: 870] +05/18 14:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:26:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5717936 -0.99767547 -0.16963337] yaw=-75.6deg [env.py: 1019] +05/18 14:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -106.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:26:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=237.9ms, total=238.0ms [env.py: 1075] +05/18 14:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.572, -0.998, -0.170) [env.py: 1079] +05/18 14:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.6 deg [env.py: 1082] +05/18 14:26:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/18 14:26:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:26:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:26:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:26:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:26:24 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/18 14:26:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 14:26:24 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 14:26:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:26:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:26:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.940s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:26:34 INFO: [Worker 0] Feasible grasp found 527 (originally 220): w/ 0.566[m] 80.366[deg] [grasp_sample.py: 596] +05/18 14:26:36 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:26:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:26:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:26:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:26:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:26:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:26:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:26:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:26:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:26:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122575m [env.py: 870] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:26:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 172.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20069302 -1.26352971 -0.1225748 ] yaw=-19.0deg [env.py: 1019] +05/18 14:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26039414 -0.87685088 -0.1225748 ] yaw=-72.9deg [env.py: 1019] +05/18 14:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47840475 -0.94065961 -0.1225748 ] yaw=-64.8deg [env.py: 1019] +05/18 14:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:26:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=227.0ms, total=227.1ms [env.py: 1075] +05/18 14:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.201, -1.264, -0.123) [env.py: 1079] +05/18 14:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.0 deg [env.py: 1082] +05/18 14:26:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/18 14:26:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:26:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:26:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:26:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:26:38 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 14:26:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 14:26:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:26:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:26:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:26:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.283s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:26:42 INFO: [Worker 0] Feasible grasp found 43 (originally 43): w/ 0.729[m] 78.635[deg] [grasp_sample.py: 596] +05/18 14:26:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:26:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:26:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:26:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:27:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:28:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:28:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:29:07 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:29:28 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/dresser/sim_chunks/chunk_049 [pipeline.py: 1174] +05/18 14:29:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_049 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:29:28 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/18 14:29:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:29:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_049 [save_utils.py: 785] +05/18 14:29:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_049 in 12.87s (batch: 3.61s, save: 9.26s) [pipeline.py: 300] +05/18 14:29:41 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=1.65s: + episode_total: mean=68.47s, total=205.42s, count=3, min=9355.5ms, max=183601.7ms + sensor_polling: mean=474.7ms, total=132.92s, count=280, min=456.6ms, max=624.9ms + save_trajectories: mean=9.26s, total=9.26s, count=1, min=9264.4ms, max=9264.4ms + physics_step: mean=31.7ms, total=8.87s, count=280, min=23.7ms, max=49.8ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3607.9ms, max=3607.9ms + task_sampling: mean=549.5ms, total=1.65s, count=3, min=533.8ms, max=560.2ms + task_specific_sample: mean=546.0ms, total=1.64s, count=3, min=530.6ms, max=556.5ms + scene_randomize: mean=1.8ms, total=5.5ms, count=3, min=1.5ms, max=2.4ms + mj_forward_sync: mean=605.1us, total=1.8ms, count=3, min=0.6ms, max=0.7ms + policy_setup: mean=18.8us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:29:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:29:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165197m [env.py: 870] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.85163227 -0.69313984 -0.16519659] yaw=-113.2deg [env.py: 1019] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0864641 -1.15579052 -0.16519659] yaw=-26.1deg [env.py: 1019] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35940385 -1.00483723 -0.16519659] yaw=-68.9deg [env.py: 1019] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=125.2ms, total=125.2ms [env.py: 1075] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.852, -0.693, -0.165) [env.py: 1079] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -113.2 deg [env.py: 1082] +05/18 14:29:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/18 14:29:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:43 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:29:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.945s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:29:48 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:29:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:29:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154493m [env.py: 870] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 25.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -34.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 56.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39237801 -1.03157538 -0.15449337] yaw=-79.4deg [env.py: 1019] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.01003612 -1.27230884 -0.15449337] yaw=-34.2deg [env.py: 1019] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=233.4ms, total=233.5ms [env.py: 1075] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.392, -1.032, -0.154) [env.py: 1079] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.4 deg [env.py: 1082] +05/18 14:29:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.895m [env.py: 1086] +05/18 14:29:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:51 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:29:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:30:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 42.918s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:30:34 INFO: [Worker 0] Feasible grasp found 484 (originally 177): w/ 0.990[m] 77.755[deg] [grasp_sample.py: 596] +05/18 14:30:36 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:30:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:30:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:30:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:30:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:30:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:30:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:30:37 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 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188955m [env.py: 870] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:30:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21670014 -1.28810961 -0.18895502] yaw=-42.7deg [env.py: 1019] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.6236541 -0.78498331 -0.18895502] yaw=-83.5deg [env.py: 1019] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:30:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=244.8ms, total=244.9ms [env.py: 1075] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.217, -1.288, -0.189) [env.py: 1079] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.7 deg [env.py: 1082] +05/18 14:30:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/18 14:30:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:30:38 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 14:30:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/18 14:30:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:30:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:30:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:30:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.804s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:30:45 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.525[m] 113.729[deg] [grasp_sample.py: 596] +05/18 14:30:47 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:30:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:30:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:30:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:30:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:30:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:30:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:30:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154821m [env.py: 870] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:30:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21876178 -1.33059404 -0.15482096] yaw=-14.7deg [env.py: 1019] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.14394306 -1.37465142 -0.15482096] yaw=-17.3deg [env.py: 1019] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.79008998 -0.81463114 -0.15482096] yaw=-91.0deg [env.py: 1019] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:30:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=163.9ms, total=163.9ms [env.py: 1075] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.219, -1.331, -0.155) [env.py: 1079] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -14.7 deg [env.py: 1082] +05/18 14:30:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m [env.py: 1086] +05/18 14:30:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:30:49 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/18 14:30:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/18 14:30:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:30:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:30:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:30:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.672s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:30:58 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.577[m] 119.112[deg] [grasp_sample.py: 596] +05/18 14:30:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:30:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:30:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:30:59 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 14:31:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:32:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:32:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:33:09 INFO: [Worker 0] Worker 0 house 1 episode 49 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:33:29 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/dresser/sim_chunks/chunk_049 [pipeline.py: 1174] +05/18 14:33:29 INFO: [Worker 0] Batching and saving trajectory data for chunk_049 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:33:29 INFO: [Worker 0] Preparing episode data: 254 timesteps [save_utils.py: 278] +05/18 14:33:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:33:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_049 [save_utils.py: 785] +05/18 14:33:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_049 in 11.65s (batch: 3.42s, save: 8.23s) [pipeline.py: 300] +05/18 14:33:41 INFO: [Worker 0] [PROFILE] Episode 49 house 1 success=True episode_total=2.02s: + episode_total: mean=58.31s, total=233.23s, count=4, min=5675.7ms, max=172902.6ms + sensor_polling: mean=477.4ms, total=120.78s, count=253, min=459.4ms, max=630.2ms + save_trajectories: mean=8.23s, total=8.23s, count=1, min=8227.1ms, max=8227.1ms + physics_step: mean=31.1ms, total=7.86s, count=253, min=24.1ms, max=44.9ms + save_batch_prep: mean=3.42s, total=3.42s, count=1, min=3423.2ms, max=3423.2ms + task_sampling: mean=503.8ms, total=2.02s, count=4, min=451.1ms, max=561.6ms + task_specific_sample: mean=500.2ms, total=2.00s, count=4, min=446.6ms, max=558.4ms + scene_randomize: mean=1.9ms, total=7.6ms, count=4, min=1.6ms, max=2.9ms + mj_forward_sync: mean=603.4us, total=2.4ms, count=4, min=0.5ms, max=0.6ms + policy_setup: mean=18.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:33:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:33:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:43 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 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142425m [env.py: 870] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.26033662 -1.08704215 -0.14242473] yaw=-68.3deg [env.py: 1019] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 51.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.00637234 -1.21851634 -0.14242473] yaw=-34.8deg [env.py: 1019] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=249.5ms, total=249.6ms [env.py: 1075] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -1.087, -0.142) [env.py: 1079] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.3 deg [env.py: 1082] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.944m [env.py: 1086] +05/18 14:33:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:43 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:44 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:33:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.141s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.735s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:33:50 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.619[m] 114.389[deg] [grasp_sample.py: 596] +05/18 14:33:52 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:33:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:54 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 14:33:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173667m [env.py: 870] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.83204502 -0.92540382 -0.17366736] yaw=-101.1deg [env.py: 1019] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.66615527 -0.83898637 -0.17366736] yaw=-83.6deg [env.py: 1019] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.39307475 -0.89057448 -0.17366736] yaw=-82.7deg [env.py: 1019] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=248.8ms, total=248.9ms [env.py: 1075] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.832, -0.925, -0.174) [env.py: 1079] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -101.1 deg [env.py: 1082] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:54 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:33:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.156s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.166s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:33:59 INFO: [Worker 0] Feasible grasp found 63 (originally 63): w/ 0.614[m] 99.622[deg] [grasp_sample.py: 596] +05/18 14:34:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:34:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:34:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:34:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:34:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:34:40 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 14:34:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:34:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:36:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 124.768s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:36:45 INFO: [Worker 0] Feasible grasp found 230 (originally 230): w/ 0.388[m] 58.873[deg] [grasp_sample.py: 596] +05/18 14:36:47 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:36:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:36:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:36:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:36:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:36:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:36:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:36:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:36:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:36:49 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 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126674m [env.py: 870] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:36:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 1.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55821383 -1.00744172 -0.12667386] yaw=-70.2deg [env.py: 1019] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.39868062 -1.12741902 -0.12667386] yaw=-21.8deg [env.py: 1019] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:36:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=234.8ms, total=234.9ms [env.py: 1075] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.558, -1.007, -0.127) [env.py: 1079] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.2 deg [env.py: 1082] +05/18 14:36:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m [env.py: 1086] +05/18 14:36:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:36:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:36:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:36:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:36:49 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 14:36:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 14:36:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:36:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:36:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:36:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.864s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:36:52 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.756[m] 78.747[deg] [grasp_sample.py: 596] +05/18 14:36:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:36:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:36:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:36:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:37:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:37:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:37:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:37:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:37:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:37:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.032s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:37:35 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.567[m] 56.533[deg] [grasp_sample.py: 596] +05/18 14:37:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:37:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:37:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:37:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:37:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:37:52 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 14:37:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:37:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:37:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.349s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:37:58 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.563[m] 56.058[deg] [grasp_sample.py: 596] +05/18 14:37:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:37:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:37:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:38:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:38:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:38:13 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 14:38:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:38:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:38:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.274s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:38:16 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.576[m] 56.593[deg] [grasp_sample.py: 596] +05/18 14:38:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:38:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:38:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:38:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:38:32 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:38:33 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:38:33 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=False episode_total=1.69s: + episode_total: mean=95.52s, total=286.55s, count=3, min=9385.8ms, max=172846.6ms + sensor_polling: mean=469.1ms, total=71.78s, count=153, min=444.5ms, max=604.4ms + physics_step: mean=28.3ms, total=4.33s, count=153, min=19.3ms, max=33.3ms + task_sampling: mean=562.7ms, total=1.69s, count=3, min=553.1ms, max=572.6ms + task_specific_sample: mean=558.7ms, total=1.68s, count=3, min=549.2ms, max=568.4ms + scene_randomize: mean=2.3ms, total=6.9ms, count=3, min=2.1ms, max=2.6ms + mj_forward_sync: mean=587.2us, total=1.8ms, count=3, min=0.6ms, max=0.6ms + policy_setup: mean=25.5us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:38:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:38:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:38:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:38:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:38:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:38:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:38:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177152m [env.py: 870] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:38:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -155.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -69.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.84248678 -0.88799263 -0.17715164] yaw=-81.2deg [env.py: 1019] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.32766176 -1.16690716 -0.17715164] yaw=-28.9deg [env.py: 1019] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:38:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=253.7ms, total=253.8ms [env.py: 1075] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.842, -0.888, -0.177) [env.py: 1079] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.2 deg [env.py: 1082] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/18 14:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:38:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:38:35 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/18 14:38:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s [base_object_manipulation_planner_policy.py: 377] +05/18 14:38:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:38:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:38:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.157s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:38:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.113s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:38:40 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.587[m] 71.940[deg] [grasp_sample.py: 596] +05/18 14:38:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:38:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:38:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:38:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:38:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:39:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:39:13 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 14:39:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:39:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:39:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.276s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:39:16 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.460[m] 52.728[deg] [grasp_sample.py: 596] +05/18 14:39:17 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:39:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:39:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:39:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:39:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:39:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:39:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:39:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:39:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:39:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118821m [env.py: 870] +05/18 14:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:39:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -161.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -148.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57959603 -0.99581694 -0.11882137] yaw=-77.1deg [env.py: 1019] +05/18 14:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:39:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=238.9ms, total=239.0ms [env.py: 1075] +05/18 14:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.580, -0.996, -0.119) [env.py: 1079] +05/18 14:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.1 deg [env.py: 1082] +05/18 14:39:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m [env.py: 1086] +05/18 14:39:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:39:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:39:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:39:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:39:20 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/18 14:39:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 14:39:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:39:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:39:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:39:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.019s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:39:22 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.639[m] 89.909[deg] [grasp_sample.py: 596] +05/18 14:39:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:39:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:39:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:39:23 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 14:39:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:40:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:40:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:40:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:40:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:40:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:40:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:40:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.611s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:40:04 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.450[m] 57.912[deg] [grasp_sample.py: 596] +05/18 14:40:06 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:40:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:40:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:40:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:40:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:40:07 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 14:40:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:40:07 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 14:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114301m [env.py: 870] +05/18 14:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:40:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -115.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0857082 -1.16338513 -0.11430096] yaw=-6.3deg [env.py: 1019] +05/18 14:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:40:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -150.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 171.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:40:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.5ms, total=233.6ms [env.py: 1075] +05/18 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.086, -1.163, -0.114) [env.py: 1079] +05/18 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -6.3 deg [env.py: 1082] +05/18 14:40:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/18 14:40:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:40:08 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/18 14:40:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 14:40:08 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 14:40:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:40:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:40:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.899s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:40:13 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:40:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:40:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:40:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:40:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:40:15 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 14:40:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:40:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150538m [env.py: 870] +05/18 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:40:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42676075 -1.05737358 -0.1505383 ] yaw=-55.8deg [env.py: 1019] +05/18 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.12832992 -1.36884926 -0.1505383 ] yaw=-7.3deg [env.py: 1019] +05/18 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.40429706 -1.02522456 -0.1505383 ] yaw=-63.6deg [env.py: 1019] +05/18 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:40:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=102.5ms, total=102.5ms [env.py: 1075] +05/18 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.427, -1.057, -0.151) [env.py: 1079] +05/18 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.8 deg [env.py: 1082] +05/18 14:40:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/18 14:40:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:40:15 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/18 14:40:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 14:40:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:40:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:40:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:40:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.733s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:40:22 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.817[m] 75.502[deg] [grasp_sample.py: 596] +05/18 14:40:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:40:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:40:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:40:23 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 14:40:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:41:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:41:11 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 14:41:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:41:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:41:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.830s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:41:20 INFO: [Worker 0] Feasible grasp found 565 (originally 258): w/ 0.594[m] 49.798[deg] [grasp_sample.py: 596] +05/18 14:41:22 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:41:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:41:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:41:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:41:24 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 14:41:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:41:24 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 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129513m [env.py: 870] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:41:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -141.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 173.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -123.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 68.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.47805313 -0.93301214 -0.12951348] yaw=-64.9deg [env.py: 1019] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:41:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=242.2ms, total=242.2ms [env.py: 1075] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.478, -0.933, -0.130) [env.py: 1079] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.9 deg [env.py: 1082] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.927m [env.py: 1086] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:41:24 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/18 14:41:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:41:24 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 14:41:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:41:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:41:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.211s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:41:30 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.870[m] 72.164[deg] [grasp_sample.py: 596] +05/18 14:41:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:41:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:41:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:41:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:42:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:43:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:43:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:43:14 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 14:43:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:43:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.968s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:43:21 INFO: [Worker 0] Feasible grasp found 229 (originally 229): w/ 0.170[m] 15.074[deg] [grasp_sample.py: 596] +05/18 14:43:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:43:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:43:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:43:23 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:43:23 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 14:43:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:43:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.043s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:43:30 INFO: [Worker 0] Feasible grasp found 59 (originally 59): w/ 0.376[m] 29.020[deg] [grasp_sample.py: 596] +05/18 14:43:31 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:43:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:43:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:43:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:43:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:43:33 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 14:43:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:43:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165791m [env.py: 870] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:43:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.16859093 -1.1544962 -0.16579143] yaw=-60.9deg [env.py: 1019] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.68346682 -0.96536068 -0.16579143] yaw=-68.6deg [env.py: 1019] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.76537626 -0.85228179 -0.16579143] yaw=-79.7deg [env.py: 1019] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:43:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=211.5ms, total=211.5ms [env.py: 1075] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.169, -1.154, -0.166) [env.py: 1079] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.9 deg [env.py: 1082] +05/18 14:43:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.971m [env.py: 1086] +05/18 14:43:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:43:34 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/18 14:43:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:43:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:43:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:43:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.141s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:43:39 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.947[m] 82.787[deg] [grasp_sample.py: 596] +05/18 14:43:41 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:43:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:43:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:43:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:43:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:43:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:43:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110842m [env.py: 870] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:43:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.66840662 -0.78375003 -0.11084171] yaw=-59.4deg [env.py: 1019] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:43:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=232.6ms, total=232.7ms [env.py: 1075] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.668, -0.784, -0.111) [env.py: 1079] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg [env.py: 1082] +05/18 14:43:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m [env.py: 1086] +05/18 14:43:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:43:43 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/18 14:43:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 14:43:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:43:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:43:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.672s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:43:55 INFO: [Worker 0] Feasible grasp found 165 (originally 165): w/ 0.952[m] 99.604[deg] [grasp_sample.py: 596] +05/18 14:43:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:43:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:43:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:43:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:44:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:44:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:44:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:44:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:44:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:44:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.502s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:44:50 INFO: [Worker 0] Feasible grasp found 113 (originally 113): w/ 0.736[m] 70.225[deg] [grasp_sample.py: 596] +05/18 14:44:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:44:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:44:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:44:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:45:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:45:07 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 14:45:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:45:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:45:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 26.605s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:45:33 INFO: [Worker 0] Feasible grasp found 180 (originally 180): w/ 0.733[m] 71.074[deg] [grasp_sample.py: 596] +05/18 14:45:33 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:45:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:45:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:45:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:45:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:45:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:45:50 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 14:45:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:45:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:46:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 24.538s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:46:15 INFO: [Worker 0] Feasible grasp found 292 (originally 292): w/ 0.734[m] 71.184[deg] [grasp_sample.py: 596] +05/18 14:46:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:46:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:46:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:46:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:46:32 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:46:33 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:46:33 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=False episode_total=3.75s: + episode_total: mean=66.75s, total=467.26s, count=7, min=5696.3ms, max=169949.6ms + sensor_polling: mean=462.9ms, total=197.20s, count=426, min=439.4ms, max=602.7ms + physics_step: mean=29.4ms, total=12.52s, count=426, min=19.0ms, max=36.8ms + task_sampling: mean=535.6ms, total=3.75s, count=7, min=416.0ms, max=578.0ms + task_specific_sample: mean=531.8ms, total=3.72s, count=7, min=412.4ms, max=573.9ms + scene_randomize: mean=1.7ms, total=11.6ms, count=7, min=1.5ms, max=2.0ms + mj_forward_sync: mean=570.8us, total=4.0ms, count=7, min=0.5ms, max=0.7ms + policy_setup: mean=21.4us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:46:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:46:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:46:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:46:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:46:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:46:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:46:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:46:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:46:34 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 14:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107656m [env.py: 870] +05/18 14:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:46:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.56918956 -0.9637836 -0.10765587] yaw=-80.3deg [env.py: 1019] +05/18 14:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.35783737 -1.09537173 -0.10765587] yaw=-39.3deg [env.py: 1019] +05/18 14:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.14921339 -1.21130858 -0.10765587] yaw=-59.5deg [env.py: 1019] +05/18 14:46:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:46:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:46:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.5ms, total=234.6ms [env.py: 1075] +05/18 14:46:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.569, -0.964, -0.108) [env.py: 1079] +05/18 14:46:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.3 deg [env.py: 1082] +05/18 14:46:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/18 14:46:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:46:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:46:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:46:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:46:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:46:35 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/18 14:46:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/18 14:46:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:46:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:46:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:46:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.943s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:46:41 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.653[m] 63.521[deg] [grasp_sample.py: 596] +05/18 14:46:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:46:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:46:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:46:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:46:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:47:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:47:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:47:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:47:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:47:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:47:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:47:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:47:13 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 14:47:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:47:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:47:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.653s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:47:24 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.511[m] 49.896[deg] [grasp_sample.py: 596] +05/18 14:47:26 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:47:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:47:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:47:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:47:28 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 14:47:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:47:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185349m [env.py: 870] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:47:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 28.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -35.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.35665382 -1.11971083 -0.18534884] yaw=-55.2deg [env.py: 1019] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.8616687 -0.640545 -0.18534884] yaw=-93.5deg [env.py: 1019] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53842189 -0.97758607 -0.18534884] yaw=-77.2deg [env.py: 1019] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:47:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=232.4ms, total=232.5ms [env.py: 1075] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.357, -1.120, -0.185) [env.py: 1079] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.2 deg [env.py: 1082] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.852m [env.py: 1086] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:47:28 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/18 14:47:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 14:47:29 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 14:47:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:47:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:47:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.132s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:47:34 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.625[m] 89.982[deg] [grasp_sample.py: 596] +05/18 14:47:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:47:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:47:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:47:35 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 14:48:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:48:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:48:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:49:51 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:50:11 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/dresser/sim_chunks/chunk_049 [pipeline.py: 1174] +05/18 14:50:11 INFO: [Worker 0] Batching and saving trajectory data for chunk_049 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:50:11 INFO: [Worker 0] Preparing episode data: 261 timesteps [save_utils.py: 278] +05/18 14:50:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:50:23 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_049 [save_utils.py: 785] +05/18 14:50:23 INFO: [Worker 0] Successfully saved trajectory data for chunk_049 in 12.52s (batch: 3.58s, save: 8.94s) [pipeline.py: 300] +05/18 14:50:24 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=1.10s: + episode_total: mean=113.80s, total=227.61s, count=2, min=51841.6ms, max=175763.7ms + sensor_polling: mean=470.2ms, total=140.11s, count=298, min=438.8ms, max=622.0ms + physics_step: mean=31.6ms, total=9.42s, count=298, min=22.2ms, max=40.4ms + save_trajectories: mean=8.94s, total=8.94s, count=1, min=8937.8ms, max=8937.8ms + save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3583.5ms, max=3583.5ms + task_sampling: mean=550.1ms, total=1.10s, count=2, min=546.7ms, max=553.5ms + task_specific_sample: mean=546.5ms, total=1.09s, count=2, min=543.4ms, max=549.6ms + scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.5ms, max=1.7ms + mj_forward_sync: mean=544.1us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:50:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:50:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:50:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:50:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:50:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:50:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:50:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:50:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:50:25 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 14:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112942m [env.py: 870] +05/18 14:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:50:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36081523 -0.9985415 -0.11294243] yaw=-63.7deg [env.py: 1019] +05/18 14:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -103.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -157.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3654173 -1.14316603 -0.11294243] yaw=-43.8deg [env.py: 1019] +05/18 14:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.91277095 -0.87747601 -0.11294243] yaw=-70.2deg [env.py: 1019] +05/18 14:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:50:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=233.2ms, total=233.3ms [env.py: 1075] +05/18 14:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.361, -0.999, -0.113) [env.py: 1079] +05/18 14:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.7 deg [env.py: 1082] +05/18 14:50:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m [env.py: 1086] +05/18 14:50:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:50:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:50:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:50:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:50:26 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/18 14:50:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s [base_object_manipulation_planner_policy.py: 377] +05/18 14:50:26 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 14:50:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:50:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:50:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.887s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:50:33 INFO: [Worker 0] Feasible grasp found 150 (originally 150): w/ 0.743[m] 90.933[deg] [grasp_sample.py: 596] +05/18 14:50:35 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:50:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:50:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:50:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:50:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:50:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:50:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:50:36 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 14:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124782m [env.py: 870] +05/18 14:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:50:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -163.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53538272 -0.97900093 -0.12478206] yaw=-34.5deg [env.py: 1019] +05/18 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.28331276 -1.11490876 -0.12478206] yaw=-23.5deg [env.py: 1019] +05/18 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:50:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=245.2ms, total=245.2ms [env.py: 1075] +05/18 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.535, -0.979, -0.125) [env.py: 1079] +05/18 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.5 deg [env.py: 1082] +05/18 14:50:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.859m [env.py: 1086] +05/18 14:50:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:50:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:50:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:50:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:50:37 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/18 14:50:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 14:50:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:50:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:50:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:50:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.630s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:50:57 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.795[m] 48.211[deg] [grasp_sample.py: 596] +05/18 14:50:59 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:51:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:51:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:51:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:51:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:51:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:51:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:51:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:51:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:51:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:51:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133440m [env.py: 870] +05/18 14:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:51:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -117.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 55.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.03975664 -1.2464455 -0.1334396 ] yaw=-40.3deg [env.py: 1019] +05/18 14:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:51:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=242.1ms, total=242.1ms [env.py: 1075] +05/18 14:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.040, -1.246, -0.133) [env.py: 1079] +05/18 14:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.3 deg [env.py: 1082] +05/18 14:51:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/18 14:51:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:51:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:51:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:51:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:51:01 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/18 14:51:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 14:51:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:51:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:51:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:51:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.958s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:51:06 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:51:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:51:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:51:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:51:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:51:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:51:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:51:08 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 14:51:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:51:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123767m [env.py: 870] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:51:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -150.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.53561049 -0.96057957 -0.12376701] yaw=-78.7deg [env.py: 1019] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31643581 -1.15671895 -0.12376701] yaw=-42.9deg [env.py: 1019] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43838303 -0.78597788 -0.12376701] yaw=-41.8deg [env.py: 1019] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:51:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=139.1ms, total=139.2ms [env.py: 1075] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.536, -0.961, -0.124) [env.py: 1079] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.7 deg [env.py: 1082] +05/18 14:51:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.875m [env.py: 1086] +05/18 14:51:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:51:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:51:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:51:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:51:08 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/18 14:51:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 14:51:08 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 14:51:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:51:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:51:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 21.650s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:51:30 INFO: [Worker 0] Feasible grasp found 516 (originally 209): w/ 0.753[m] 123.414[deg] [grasp_sample.py: 596] +05/18 14:51:32 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:51:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:51:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:51:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:51:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:51:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:51:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:51:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:51:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:51:33 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 14:51:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:51:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136440m [env.py: 870] +05/18 14:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:51:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.55344851 -0.96452896 -0.13643999] yaw=-69.6deg [env.py: 1019] +05/18 14:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:51:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:51:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=233.3ms, total=233.4ms [env.py: 1075] +05/18 14:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.553, -0.965, -0.136) [env.py: 1079] +05/18 14:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.6 deg [env.py: 1082] +05/18 14:51:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/18 14:51:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:51:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:51:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:51:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:51:34 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/18 14:51:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 14:51:34 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 14:51:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:51:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:51:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.014s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:51:39 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.616[m] 80.644[deg] [grasp_sample.py: 596] +05/18 14:51:41 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:51:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:51:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:51:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:51:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:51:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:51:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:51:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:51:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:51:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:51:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:51:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191697m [env.py: 870] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:51:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -41.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -5.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=224.0ms, total=224.0ms [env.py: 1105] +05/18 14:51:43 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:51:43 ERROR: [Worker 0] Worker 0 house 1 episode 67 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:51:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:51:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:51:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:51:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:51:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:51:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:51:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:51:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:51:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:51:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171134m [env.py: 870] +05/18 14:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:51:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.27564391 -1.06600344 -0.17113416] yaw=-67.2deg [env.py: 1019] +05/18 14:51:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.67533138 -0.70580445 -0.17113416] yaw=-51.7deg [env.py: 1019] +05/18 14:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -17.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.21573832 -1.16442694 -0.17113416] yaw=-26.8deg [env.py: 1019] +05/18 14:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:51:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=216.5ms, total=216.6ms [env.py: 1075] +05/18 14:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.276, -1.066, -0.171) [env.py: 1079] +05/18 14:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.2 deg [env.py: 1082] +05/18 14:51:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.947m [env.py: 1086] +05/18 14:51:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:51:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:51:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:51:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:51:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:51:45 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/18 14:51:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 14:51:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:51:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:51:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:51:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.084s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:51:50 INFO: [Worker 0] Feasible grasp found 150 (originally 150): w/ 0.670[m] 101.542[deg] [grasp_sample.py: 596] +05/18 14:51:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:51:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:51:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:51:51 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 14:52:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:53:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:53:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:54:13 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:54:33 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/dresser/sim_chunks/chunk_049 [pipeline.py: 1174] +05/18 14:54:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_049 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:54:33 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/18 14:54:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:54:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_049 [save_utils.py: 785] +05/18 14:54:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_049 in 12.37s (batch: 3.44s, save: 8.93s) [pipeline.py: 300] +05/18 14:54:46 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=3.18s: + episode_total: mean=35.78s, total=250.47s, count=7, min=234.5ms, max=181528.0ms + sensor_polling: mean=476.5ms, total=128.65s, count=270, min=450.4ms, max=615.1ms + save_trajectories: mean=8.93s, total=8.93s, count=1, min=8928.2ms, max=8928.2ms + physics_step: mean=32.1ms, total=8.68s, count=270, min=23.9ms, max=51.1ms + save_batch_prep: mean=3.44s, total=3.44s, count=1, min=3439.8ms, max=3439.8ms + task_specific_sample: mean=484.0ms, total=3.39s, count=7, min=230.1ms, max=554.9ms + task_sampling: mean=529.7ms, total=3.18s, count=6, min=446.8ms, max=559.2ms + task_sampling_failed: mean=234.5ms, total=234.5ms, count=1, min=234.5ms, max=234.5ms + scene_randomize: mean=1.8ms, total=12.6ms, count=7, min=1.5ms, max=2.8ms + mj_forward_sync: mean=563.3us, total=3.9ms, count=7, min=0.5ms, max=0.6ms + policy_setup: mean=18.7us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:54:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:54:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:54:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:54:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:54:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:54:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:54:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139056m [env.py: 870] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:54:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -120.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.80965316 -0.66692522 -0.13905591] yaw=-95.7deg [env.py: 1019] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 8.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.8048816 -0.80329406 -0.13905591] yaw=-60.8deg [env.py: 1019] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:54:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=477.9ms, total=478.0ms [env.py: 1075] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.810, -0.667, -0.139) [env.py: 1079] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.7 deg [env.py: 1082] +05/18 14:54:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/18 14:54:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:54:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:54:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:54:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:54:48 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/18 14:54:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/18 14:54:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:54:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:54:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:54:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.936s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:54:54 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:54:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:54:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:54:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:54:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:54:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:54:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:54:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:54:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:54:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:54:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:54:55 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 14:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101910m [env.py: 870] +05/18 14:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:54:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.7286904 -0.83255654 -0.10190969] yaw=-104.7deg [env.py: 1019] +05/18 14:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.70168454 -0.74085512 -0.10190969] yaw=-99.3deg [env.py: 1019] +05/18 14:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:54:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.40939472 -1.09153664 -0.10190969] yaw=-25.5deg [env.py: 1019] +05/18 14:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:54:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.3ms, total=206.4ms [env.py: 1075] +05/18 14:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.729, -0.833, -0.102) [env.py: 1079] +05/18 14:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.7 deg [env.py: 1082] +05/18 14:54:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.925m [env.py: 1086] +05/18 14:54:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:54:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:54:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:54:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:54:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:54:56 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/18 14:54:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/18 14:54:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:54:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:54:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:55:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 19.408s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:55:15 INFO: [Worker 0] Feasible grasp found 402 (originally 95): w/ 0.978[m] 68.786[deg] [grasp_sample.py: 596] +05/18 14:55:17 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:55:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:55:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:55:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:55:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:55:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:55:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:55:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:55:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:55:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147908m [env.py: 870] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:55:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.15512927 -1.1368169 -0.14790779] yaw=-28.7deg [env.py: 1019] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.04809045 -1.32407345 -0.14790779] yaw=-42.5deg [env.py: 1019] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.0733276 -1.33325367 -0.14790779] yaw=6.7deg [env.py: 1019] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:55:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.5ms, total=210.5ms [env.py: 1075] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.155, -1.137, -0.148) [env.py: 1079] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.7 deg [env.py: 1082] +05/18 14:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.992m [env.py: 1086] +05/18 14:55:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:55:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:55:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:55:19 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/18 14:55:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 14:55:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:55:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:55:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:55:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.252s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:55:25 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.754[m] 97.053[deg] [grasp_sample.py: 596] +05/18 14:55:27 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:55:28 WARNING: [Worker 0] No trajectory data to save for chunk_049 [pipeline.py: 234] +05/18 14:55:28 WARNING: [Worker 0] No trajectory data to save for chunk_049 [pipeline.py: 234] +05/18 14:55:28 INFO: [Worker 0] Worker 0 completed house 1: 14/18 successful episodes [pipeline.py: 1323] +05/18 14:55:28 INFO: [Worker 0] [PROFILE] House 1 complete: 14/18 successful, 18 episodes, total_time=6957.98s + House averages: + episode_total: mean=59.17s, total=4260.34s, count=72, min=234.5ms, max=193013.0ms + sensor_polling: mean=462.6ms, total=2278.17s, count=4925, min=426.1ms, max=630.2ms + physics_step: mean=30.5ms, total=150.11s, count=4925, min=19.0ms, max=51.1ms + save_trajectories: mean=8.93s, total=124.99s, count=14, min=7963.3ms, max=10136.3ms + save_batch_prep: mean=3.52s, total=49.35s, count=14, min=3409.8ms, max=3632.6ms + task_sampling: mean=634.0ms, total=41.84s, count=66, min=416.0ms, max=6907.9ms + task_specific_sample: mean=509.9ms, total=36.72s, count=72, min=230.1ms, max=810.8ms + scene_load: mean=6.31s, total=6.31s, count=1, min=6310.8ms, max=6310.8ms + scene_env_create: mean=4.03s, total=4.03s, count=1, min=4032.9ms, max=4032.9ms + scene_compile: mean=1.88s, total=1.88s, count=1, min=1881.7ms, max=1881.7ms + task_sampling_failed: mean=242.1ms, total=1.45s, count=6, min=234.5ms, max=252.4ms + compile_mujoco: mean=1.05s, total=1.05s, count=1, min=1051.7ms, max=1051.7ms + compile_xml_load: mean=712.4ms, total=712.4ms, count=1, min=712.4ms, max=712.4ms + scene_asset_install: mean=273.1ms, total=273.1ms, count=1, min=273.1ms, max=273.1ms + asset_install_objects: mean=172.0ms, total=172.0ms, count=1, min=172.0ms, max=172.0ms + scene_randomize: mean=1.8ms, total=132.3ms, count=72, min=1.4ms, max=3.1ms + scene_init: mean=122.7ms, total=122.7ms, count=1, min=122.7ms, max=122.7ms + asset_install_grasps: mean=97.2ms, total=97.2ms, count=1, min=97.2ms, max=97.2ms + compile_aux_objects: mean=76.7ms, total=76.7ms, count=1, min=76.7ms, max=76.7ms + compile_aux_policy_objects: mean=76.7ms, total=76.7ms, count=1, min=76.7ms, max=76.7ms + mj_forward_sync: mean=574.1us, total=41.3ms, count=72, min=0.5ms, max=0.7ms + compile_robot_add: mean=29.7ms, total=29.7ms, count=1, min=29.7ms, max=29.7ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + policy_setup: mean=20.4us, total=1.3ms, count=66, 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 14:55:28 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/18 14:55:28 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 18 episodes, total_time=6957.98s + Worker averages: + episode_total: mean=59.17s, total=4260.34s, count=72, min=234.5ms, max=193013.0ms + sensor_polling: mean=462.6ms, total=2278.17s, count=4925, min=426.1ms, max=630.2ms + physics_step: mean=30.5ms, total=150.11s, count=4925, min=19.0ms, max=51.1ms + save_trajectories: mean=8.93s, total=124.99s, count=14, min=7963.3ms, max=10136.3ms + save_batch_prep: mean=3.52s, total=49.35s, count=14, min=3409.8ms, max=3632.6ms + task_sampling: mean=634.0ms, total=41.84s, count=66, min=416.0ms, max=6907.9ms + task_specific_sample: mean=509.9ms, total=36.72s, count=72, min=230.1ms, max=810.8ms + scene_load: mean=6.31s, total=6.31s, count=1, min=6310.8ms, max=6310.8ms + scene_env_create: mean=4.03s, total=4.03s, count=1, min=4032.9ms, max=4032.9ms + scene_compile: mean=1.88s, total=1.88s, count=1, min=1881.7ms, max=1881.7ms + task_sampling_failed: mean=242.1ms, total=1.45s, count=6, min=234.5ms, max=252.4ms + compile_mujoco: mean=1.05s, total=1.05s, count=1, min=1051.7ms, max=1051.7ms + compile_xml_load: mean=712.4ms, total=712.4ms, count=1, min=712.4ms, max=712.4ms + scene_asset_install: mean=273.1ms, total=273.1ms, count=1, min=273.1ms, max=273.1ms + asset_install_objects: mean=172.0ms, total=172.0ms, count=1, min=172.0ms, max=172.0ms + scene_randomize: mean=1.8ms, total=132.3ms, count=72, min=1.4ms, max=3.1ms + scene_init: mean=122.7ms, total=122.7ms, count=1, min=122.7ms, max=122.7ms + asset_install_grasps: mean=97.2ms, total=97.2ms, count=1, min=97.2ms, max=97.2ms + compile_aux_objects: mean=76.7ms, total=76.7ms, count=1, min=76.7ms, max=76.7ms + compile_aux_policy_objects: mean=76.7ms, total=76.7ms, count=1, min=76.7ms, max=76.7ms + mj_forward_sync: mean=574.1us, total=41.3ms, count=72, min=0.5ms, max=0.7ms + compile_robot_add: mean=29.7ms, total=29.7ms, count=1, min=29.7ms, max=29.7ms + asset_install_scene: mean=3.9ms, total=3.9ms, count=1, min=3.9ms, max=3.9ms + policy_setup: mean=20.4us, total=1.3ms, count=66, 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 14:55:31 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/18 14:55:31 INFO: Success count: 14, Total count: 18 [pipeline.py: 1491] +05/18 14:55:31 INFO: Success rate: 77.78% [pipeline.py: 1492] diff --git a/dresser/sim/chunk_049/trajectories_batch_1_of_1_cam_rand.h5 b/dresser/sim/chunk_049/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cc4ee6e24db6d2994e41447cb8185625b089a4a8 --- /dev/null +++ b/dresser/sim/chunk_049/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:147c0c0ae78e3ea7a3d2859988cb44039bb604a80d8ecc4c0a2a6fd78b9cafe0 +size 937878068