diff --git a/dresser/sim/chunk_061/chunk_log.txt b/dresser/sim/chunk_061/chunk_log.txt new file mode 100644 index 0000000000000000000000000000000000000000..3b2c7c7aab3e512cd1aa4bf9db9c1a4687edfc3d --- /dev/null +++ b/dresser/sim/chunk_061/chunk_log.txt @@ -0,0 +1,5 @@ +chunk_pad: 061 +node: pasteur3 +salvaged: 2026-05-18T15:07:42-07:00 +ntraj: 20 +note: rescued after stale-FD bash failure; sim data intact on /scr. diff --git a/dresser/sim/chunk_061/episode_00000000_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000000_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9900db103ad28f28e5f5c254324258204900e526 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000000_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1909b7212095584a35fea2deee7227ed7622c740f0a6d132ac4787382a48bae0 +size 464343 diff --git a/dresser/sim/chunk_061/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..93ce2a8f923082018e547d69ecb7d875066d694e --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c80106c7bfcbf44cdf4545f187d695bc89e08d5ad08c9ecc929db3b8e7ea1b1 +size 374231 diff --git a/dresser/sim/chunk_061/episode_00000000_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000000_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e4d29555b061cf7fc135abcfc0f64db7719773b1 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000000_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1299c04fb5852756caf16e68350c5e71fbda2160558bfbc66ecc0f94efba0c1f +size 522726 diff --git a/dresser/sim/chunk_061/episode_00000000_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000000_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..44053dbdd29b30735baeeb200af9df5be542121b --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000000_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edecb90e25bf3c988943ab6d8c4155f07164dd20612ec06cab3ca9037e6720d8 +size 1715956 diff --git a/dresser/sim/chunk_061/episode_00000000_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000000_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..97bd780fc2972c54a5e821e2a803a9f541acc119 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000000_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02d058d6f7980f02a33816a6d09b5218a064d804a414d95e95a630ce82cd0881 +size 584643 diff --git a/dresser/sim/chunk_061/episode_00000000_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000000_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f525165607af899f0b0f56ca8dd215b022236afc --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000000_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4c45122b3bef0922be7553c9558f2b93f21091b4646b0164090a30fadfb0de8 +size 900672 diff --git a/dresser/sim/chunk_061/episode_00000001_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000001_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7685540473c775457adc3a0ea12129af35de8b48 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000001_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93792a9fe9e4713867ad97abfde51db49c9e070b61ed5c9e943f122b994b2eef +size 379102 diff --git a/dresser/sim/chunk_061/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..01f0afcfe6a8045dd0aa242b80acae40bb0c6d07 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b47361e05e40df58bf386f98232fef5c7da1487db59a6e85de573cbdc124b7e4 +size 309623 diff --git a/dresser/sim/chunk_061/episode_00000001_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000001_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bfeb8957487d3704d11f555b246a895b8350ed1a --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000001_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4487a26b5159696ca80cc56173e59678c2e8f29bbf46aae35b3bcec1232d75a5 +size 463837 diff --git a/dresser/sim/chunk_061/episode_00000001_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000001_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7d2bb6042065174b52f24db034b9c0618082f9a9 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000001_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8b279ea8239f9a7de9854ef0580f4bc72c6f2558b81d4af2f979847f3199fa9 +size 892555 diff --git a/dresser/sim/chunk_061/episode_00000001_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000001_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5d2e3ca2d3079ab62cfb962799eeaf26e4ce6ac6 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000001_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:527e2e350b25593919fa7cff6f07bc6e01ac985492882f93d6d90c748f94c256 +size 331208 diff --git a/dresser/sim/chunk_061/episode_00000001_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000001_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..12d226cfcf975eae3051cef5e7919039e772dc3a --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000001_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2c774ec7fe39dc325debeee61cdbe3a479fa127eba6b05f7267e3fdc18e871c +size 657776 diff --git a/dresser/sim/chunk_061/episode_00000002_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000002_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5928c98eac4f79545acc179ea68a17667c5424e3 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000002_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66b5b4234775cc6ae8012a5e8b9c4b5508aa79d9c261a16adf04e120ef4212c6 +size 394934 diff --git a/dresser/sim/chunk_061/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0709bd6e3651b6117558c77593664e46b271472f --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09d6714c639273048a9211bc688c4a99447e9661c09be505fe5a63f52c3ec515 +size 349987 diff --git a/dresser/sim/chunk_061/episode_00000002_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000002_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..acb9e602f0e2764116ae1706f9ebc5919e8749a2 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000002_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34d68be3608d51667c4e76d275fc7fa44fe263938c94739d3a0512be84a37b50 +size 509205 diff --git a/dresser/sim/chunk_061/episode_00000002_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000002_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..193425352a79ade76a3337dc1e660e01d2023592 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000002_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a2ba263adf3323305aee0cefb9743ad9a2ddfbff51664439ab87a236bafa12f +size 767843 diff --git a/dresser/sim/chunk_061/episode_00000002_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000002_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dca177e6f63d92a726aed8b1eff2ee8642a7ecc4 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000002_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:127886712f54768321987b1029fa9244a17555b61f1794d8f500f283dc5d0860 +size 253479 diff --git a/dresser/sim/chunk_061/episode_00000002_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000002_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8087f8fa85450cc4bebda793d38c9c16c2560ac9 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000002_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6354353248286241a40c0dc63f0e1c9fb3271bb883c81f76a3ccf03d6b4158e2 +size 670325 diff --git a/dresser/sim/chunk_061/episode_00000003_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000003_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f0886bf0709757ea72688100d8fb0caa6aa4a353 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000003_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:795e65dec106a436616e49c2cda52e484ae05a10fc701a93d52d06220ce314c1 +size 676088 diff --git a/dresser/sim/chunk_061/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..11ae6912beca63286ee9d0e6b87f446e89cde7be --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21a27d8cc5273e24eed594e0ce101ec314970101bff9141f9a8c3c38be2a46d8 +size 601741 diff --git a/dresser/sim/chunk_061/episode_00000003_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000003_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ca0db01f315b78d3f9847d8498a4edb920430179 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000003_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0cfc8f0fc31d007a2608cf6e25c4636d104001e8879768da686c769e9a553d6 +size 573855 diff --git a/dresser/sim/chunk_061/episode_00000003_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000003_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d2bdbe41eaee68cf84833259cf5163625a113fc8 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000003_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec015a86f1e684bf382c46c0da914165c79a492f9fc0729ee2e9409d69d0675b +size 800132 diff --git a/dresser/sim/chunk_061/episode_00000003_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000003_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..23af9336dc2ee48dfb0e8b5d4fbcc6068ff1902a --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000003_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7ba4d27f1f2179f42a627fb60175027b7bcfabf3bfbb068058ba97b23f115f3 +size 120383 diff --git a/dresser/sim/chunk_061/episode_00000003_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000003_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4bf645cf8d0bd2e93170ed70371b02dc7a3a9741 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000003_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf7ae45a29f48e327ff7b8a5ef28b3ec3fb66513ee4d277dbc3d8799d0483073 +size 688600 diff --git a/dresser/sim/chunk_061/episode_00000004_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000004_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5866e3b343e0ddcb43612a38338cbba57f412e64 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000004_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2197ecb27d6d10da7167278aea5fc6be2c4314b8f1abb1433293c7239f9c1db +size 452046 diff --git a/dresser/sim/chunk_061/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d702df9ee0f9f239f079852325d48a83105fff80 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9701ba22c5da56d11da3c9e052ed57a162b2240fd2242c9fe479c5081f59be8d +size 395647 diff --git a/dresser/sim/chunk_061/episode_00000004_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000004_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ce69615f7d89414498d7b0dbe2da32dae6ce13e9 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000004_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b39baf928e0c5c90f039f5fce2875d6e12cddc26204ffa58833dda89ea39438e +size 522657 diff --git a/dresser/sim/chunk_061/episode_00000004_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000004_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d06e868898ac819eea7e9b0b29c6413bccf9b7cf --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000004_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3c8b619a2483ebc5f7438ba0fbde8894cfed9fd7322f9eec37f48e3aa0779dc +size 720646 diff --git a/dresser/sim/chunk_061/episode_00000004_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000004_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f2a08236ddc362dded0c26ccdf7e571450e2f677 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000004_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e4fc6f36953acadd05b1352eb12e9a7b181253eb18ebf8a8375d3057fb6ae8e +size 114163 diff --git a/dresser/sim/chunk_061/episode_00000004_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000004_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c43786c64416db7be0a8e2df9d0b8664bf3648b9 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000004_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cd16fea56c7672398d01b09cd44fca3eb06df4e3ce2ce57786dad0114d60c5d +size 614154 diff --git a/dresser/sim/chunk_061/episode_00000005_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000005_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..748f3062f916c7a5644c80c33805f67014a91269 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000005_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06f642e6ebca643e3cb7e93ac7b552174a1566192541e2345f6a5a1e55fb60ae +size 595788 diff --git a/dresser/sim/chunk_061/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fa2eaecef380b5f2fe7bb1b437158e2ca16c154d --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a97aef2211ffa081b957c12c32fa8651d3b3247f66bb3d70b20fbf042875479 +size 496611 diff --git a/dresser/sim/chunk_061/episode_00000005_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000005_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..43d2af126eea140f7958351403a3eae93b2bbc59 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000005_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70c28d161560a626f5406beaaaeffe393a4dfc98f73077a9abec70ff9585f7d3 +size 590188 diff --git a/dresser/sim/chunk_061/episode_00000005_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000005_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8ce294a67164f5c3c516c98f9f558b4d815272bf --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000005_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ad182223052b3c6c0df290c8531f9548001ef281262462aab9615dd257c0e74 +size 958938 diff --git a/dresser/sim/chunk_061/episode_00000005_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000005_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e1e434b5a32ad565a512d6b2e526898d267ec412 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000005_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2dea37d4dccd760dc0457736616903c8ca6b2d4864e5991ca5ca218c7fe43ce1 +size 121169 diff --git a/dresser/sim/chunk_061/episode_00000005_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000005_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..41a67fb0f15074d3fe58f08acd5775bc01b9f6ef --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000005_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cad6997ab3af049a9d61d47a6c794a89ab8a97e93e5c5581f0f2b2e7163b783f +size 602477 diff --git a/dresser/sim/chunk_061/episode_00000006_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000006_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9c2e5b02147f1cbd23258170673fe25cf8548b6b --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000006_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3491ba784f2c69742c8b86ea1118172f976af683719d278bdc84fad9fbb5e659 +size 683125 diff --git a/dresser/sim/chunk_061/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c7328010dff1ac0f245d4c20cac062b86430ae50 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4b7eb997f3da82c364b3e573a16fc0285ed365aec2cb7e8d4e96112dae7a09c +size 560411 diff --git a/dresser/sim/chunk_061/episode_00000006_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000006_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ec45e6bfda2530afc28ffdaed1e3b6f5fcf75b07 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000006_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3a1cd94b0eae80a3245d40a90a7b72686e55e2736581ebe118ba5ad310b7a30 +size 605015 diff --git a/dresser/sim/chunk_061/episode_00000006_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000006_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1dc3c1f9aadcf12c99363e47277c065811955cf2 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000006_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:180e484b86751b7fff3cd48411399780edfa5f465943c23bdccecd2f59a650ac +size 1190909 diff --git a/dresser/sim/chunk_061/episode_00000006_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000006_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..518425da70a229747b56dacf3f5e9cccbeaeca0c --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000006_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbdb8e6e0f1476565aaa285a52d7cba3a024c048fcb2efd41d592102ceef6639 +size 222822 diff --git a/dresser/sim/chunk_061/episode_00000006_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000006_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a4d84e50103a695c025107a68dacd125cb15bbb4 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000006_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d64484a4ab0296a9eafb3f4976054d4091ace721d67e0acd69fa1f2c6f1f32b +size 944319 diff --git a/dresser/sim/chunk_061/episode_00000007_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000007_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..462d1a1d0a4d3f3a32363896b2aafe8b876593a2 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000007_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a8f5ce113b87ceffd12fb162be3d1d39ff942c801696c064df2786218581637 +size 571858 diff --git a/dresser/sim/chunk_061/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c540375b6faa1bd76f83c3e7bcfa2dd71e2e8fe6 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afc3c0132b71bb7b7c1316bcfcdbd423deaf2f4b45180ba6e8d1751427bd6185 +size 504353 diff --git a/dresser/sim/chunk_061/episode_00000007_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000007_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..58629d36afeef065c49152ce63ae01c722d0ee48 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000007_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:930dce0b6c65f0222b6a2c62593d3913efa49f96404c918f1a64b0c2727f2947 +size 599475 diff --git a/dresser/sim/chunk_061/episode_00000007_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000007_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d5ee3f92f361de9996fc3c143728898fcb074cba --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000007_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e779337a36188eeda2cda55c81f5107e6ac31ca0f521cff0a35edce4f5b53d89 +size 780231 diff --git a/dresser/sim/chunk_061/episode_00000007_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000007_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..83884ca839e1bb3220e394bdfaf0213f153b8704 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000007_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a8ec5d62d75c64a9a9f4b64be263ac3d47532b7e4322e4ef2ced6b2221b8e0e +size 113160 diff --git a/dresser/sim/chunk_061/episode_00000007_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000007_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6678c916b2d313acf56bf33e3fc777c8718accde --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000007_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46dda9f664dd7700b8c5e1f72fcb62a1ed781b4241cc7e0a5b8be2914b5147e5 +size 597675 diff --git a/dresser/sim/chunk_061/episode_00000008_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000008_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..10b0e3ee19a7c2be135708dec2b8e1d25d38c253 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000008_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:148a1b9bc921b22c51feb08115d429ca788494c8ad39842cbdbcc0c8061cf155 +size 606043 diff --git a/dresser/sim/chunk_061/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..133ff4bec5b343a059d9ad35df64d5db50c496fb --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1054614a2c1aea5614b2d20a3ffe44ac8ce42d18e30b285f2189e0e52d21cdc +size 519349 diff --git a/dresser/sim/chunk_061/episode_00000008_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000008_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..77a2841e02691e8dcc2bf2d1cf0cdf23ba860ce6 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000008_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ec70f7f850013c9410773fa33c419f68d7b84ffda557a3e0fae1c84394b5893 +size 633768 diff --git a/dresser/sim/chunk_061/episode_00000008_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000008_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6d7ffe74b47933019f089ccc3213dcc67e9d531b --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000008_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00ef657fc401ef2664cc6373bc1d4b028899118b0222784225659067149d6416 +size 660960 diff --git a/dresser/sim/chunk_061/episode_00000008_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000008_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..783de31167fafa3787153d7db26bec4dbd5f09f2 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000008_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2fea88560b8e0464b44455b6d3d2a717c235543be0090be107dfe9db968995b +size 104533 diff --git a/dresser/sim/chunk_061/episode_00000008_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000008_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1afb7a86acc238b09dad1c1d854a560b0548e96a --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000008_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be8b96f8211cedc76c98013b0e102ccf87aefc749a10c6a332cff007f8e9cb58 +size 608289 diff --git a/dresser/sim/chunk_061/episode_00000009_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000009_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c1fd4ce928be15600891c5bf571403696d1cf4a7 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000009_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:135e8fdef8204d4555dab8504512137b79b5059507cc30851c58d8086ad7c58c +size 460754 diff --git a/dresser/sim/chunk_061/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dca2b956ad01fa80220adf92965da0baababe7aa --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c98e5e3b3730f23a2ee3545e22ad58df5463839446c004f308195527c247a6a4 +size 389275 diff --git a/dresser/sim/chunk_061/episode_00000009_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000009_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ed8d50e558652ea7fa28ec819e59deaa478240b1 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000009_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26b3d5314d65c507062dd6c0d421f625ab934b6a8b0fa718ef8e51246f2e437b +size 555595 diff --git a/dresser/sim/chunk_061/episode_00000009_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000009_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4db9b5710672ee86a4377984177fcd041a5c7850 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000009_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:201a2255aab91c2e439c3098a7cbc0a374508943ce4c6cc789b2c22580086068 +size 933732 diff --git a/dresser/sim/chunk_061/episode_00000009_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000009_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9c662c4b223ef833c70eb6110f0925193ddeb8cb --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000009_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d52698b42632e0c20e4304e229c39a11c6cf7f60a1a03429a47ecaafc0f48f8d +size 153485 diff --git a/dresser/sim/chunk_061/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..60787fd88f6f098f8349c18252ea528cde96e0a5 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b651522dae78cf328b4803f8ad5e949d51beef81897348bac160aa83ca1dd09 +size 607951 diff --git a/dresser/sim/chunk_061/episode_00000010_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000010_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..351728238f2f700ddf6ad40b4af2af9ae0356f02 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000010_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9f5ba5083ac14b1f036666b4bd25a3528e15fcd5e747a4f688e6f33c4d10cea +size 627703 diff --git a/dresser/sim/chunk_061/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fc4da1559fc3c1779dbd345bd81c847ff1ca578a --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44d34c8a3389bf8647aaf001df0d74d5b5a6996a40d3f2e2d334f99b1f1bc191 +size 546985 diff --git a/dresser/sim/chunk_061/episode_00000010_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000010_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0ed6865098214695bd648e1490e54665fb6066cc --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000010_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9528f7eeb0408bc33c9162a0cbb725e52c822f15e79fe0bde951bbfabe76a93 +size 612071 diff --git a/dresser/sim/chunk_061/episode_00000010_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000010_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..15793722e3468492bfdf07bb2b89bfa4354590eb --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000010_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ae9e6659ce03d6fd55505abb9c3586cf129fee0c055a3c801b19c5f365c73a8 +size 757866 diff --git a/dresser/sim/chunk_061/episode_00000010_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000010_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f9b0a7a522cedd6d91907f98c59aa007b8b4a674 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000010_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f85bab706cb75d742a96f036fe2019632230fccb14a81ab1ac9e68ea5c2a9c10 +size 135072 diff --git a/dresser/sim/chunk_061/episode_00000010_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000010_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..31adf744364e8bfba2e55d189971011c224c2eb7 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000010_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7371f4083159b67a140b713299e52c04b0a01724f834a2e79f74047756d6107 +size 669518 diff --git a/dresser/sim/chunk_061/episode_00000011_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000011_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..758411d8db7c2de824ac944b56b3c67ff518a089 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000011_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2831f67d1d1b4552e314c2d34cca3f402356c94dc840b3b6afeda32403f6415b +size 381914 diff --git a/dresser/sim/chunk_061/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1020b7aa1748969ff76d835c65c5bd18c4c2d207 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aded87962d9716515da0c482660ddbd74216662b2f173dbc2254dd38474eed3f +size 352017 diff --git a/dresser/sim/chunk_061/episode_00000011_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000011_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e7bad40fd7f8bf358710a8774bc594fbee45dfbb --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000011_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dcbe6bd7bea2ffcdf8603c3272bf2370d4582e932b2413c158c14bfd726c086 +size 505427 diff --git a/dresser/sim/chunk_061/episode_00000011_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000011_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2af9cd60f8ee25416042308536f770425d4fce9e --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000011_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4469e99999c58de679788c69a60a76e9bbd96bc9e83798678afc3c2f8e259c47 +size 880699 diff --git a/dresser/sim/chunk_061/episode_00000011_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000011_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..90445017c2b16b161c351cbd44b8fa5f78de8169 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000011_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f19c4cf7d8673b1aaf72fde4660823a3678597790cbd21ea5c75535f9a12fb5 +size 147836 diff --git a/dresser/sim/chunk_061/episode_00000011_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000011_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d3b356426f57aeaafd574f53ffd6729f4d3844dd --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000011_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7037b533b9c6adb4587ddb2c36fdaca0a8547175a654ada76406688df2c6f96 +size 617814 diff --git a/dresser/sim/chunk_061/episode_00000012_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000012_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..80e8bd0e05ee514926763ee5009092431e1ffbb6 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000012_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32bb1243db1e49e22f27f92d282e80db8928a8db4bd70680fd21196f842a1ce8 +size 493227 diff --git a/dresser/sim/chunk_061/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1908d7eaaad93f819cb717cf913b5f747ce5d688 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:858f085eecd6f1d2cc33cfabbb40a37fbd48dd8b68e8b0162b0d292f948839ff +size 392763 diff --git a/dresser/sim/chunk_061/episode_00000012_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000012_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..807f06bf0a4b150ff84e2844b44bcba9fc723da3 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000012_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1df3cd1ba6599deee40bc4aa95f19ef1157633d022e80153b60e015365476031 +size 485162 diff --git a/dresser/sim/chunk_061/episode_00000012_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000012_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6d0ba6df571780a3b88c767d613c830fb045fe06 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000012_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:686307e69c2fc75a53f42c5346aca23bb83341fed6916eda6f01f5dd0424c597 +size 959498 diff --git a/dresser/sim/chunk_061/episode_00000012_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000012_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d5b30144e6e3685abc30a14c8cf7627d756b7095 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000012_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26391d26c76b8e9db7c703ed376d1d95eb2ca78df80668b42a4fcc4a93ad40b4 +size 128564 diff --git a/dresser/sim/chunk_061/episode_00000012_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000012_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d1f19b4a9f742bc584ce06662d57d4b8c045319d --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000012_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fce528b320b5587fcb186980266b8f46908b4c00b99f3e13dd9dee6af23ad53f +size 875242 diff --git a/dresser/sim/chunk_061/episode_00000013_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000013_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a67c56994a533543cd07c7dcb0812ee92f2b8011 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000013_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea3b024bb2b1cc717ebca21a1d9509ab0f8071a8b5bbf29f6c60d99063743885 +size 650899 diff --git a/dresser/sim/chunk_061/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a8f9fdbe40dfee7e11416e8e987ab452b90436a3 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:755d755054362e5c7272179852f857f0892e32cc987c5ed0342ec0bb075cad8f +size 569781 diff --git a/dresser/sim/chunk_061/episode_00000013_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000013_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bf27bf1fa3bb31ad54a63ca81ae1d80f90df3e27 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000013_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ecc069817d50a4b87dd7645bc3ae031d4802a0f17358f4183d44cd60a802feb +size 614545 diff --git a/dresser/sim/chunk_061/episode_00000013_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000013_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7dc5aa0e9ae852e811956ec20b64b5625c1a6972 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000013_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d7082437b3fcac078122c637e447e82cb1aee620a9c5fe678baf6f1a2b34b05 +size 888826 diff --git a/dresser/sim/chunk_061/episode_00000013_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000013_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..481202ab2bfe5808d2e78d3ba75201c631061ab6 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000013_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3cffafa6d5f2b2e78b541ced08ad6dba14e184a21d7c4426c374355f5989c5b +size 134176 diff --git a/dresser/sim/chunk_061/episode_00000013_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000013_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8b67fac4eb48bddb5f9d5cf94d687476cdd03585 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000013_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8ed4218095e8da2516bc527e153dbea669a324fdef19405cac860dfc4e5bdfa +size 757721 diff --git a/dresser/sim/chunk_061/episode_00000014_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000014_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..23f8ea46e122e9c89d6b4ebb794f67a0b6a6ed1b --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000014_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d80c0700cbbe7a4dc8043d8e17625b4fe5c05e2a39c9cfa3a9c12d848bdb1a0e +size 417916 diff --git a/dresser/sim/chunk_061/episode_00000014_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000014_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3e24b563ea51302c564478c06865ff7ff3c3a86c --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000014_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58ab937de167f685a4eb13f51576dc94c9ea2152958cf02df92ab2230f0a4a82 +size 378153 diff --git a/dresser/sim/chunk_061/episode_00000014_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000014_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5975d06f96ed48b62b217450a146d217bc412dbc --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000014_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:445032c2ff886fad6ae82aad6c73ac447e28d8d26c5ab363ebb9977d908225ce +size 555606 diff --git a/dresser/sim/chunk_061/episode_00000014_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000014_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d7b5654069cbc21b9f1b82bdffafbbe8bec31794 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000014_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4895c0530eb8c49d66bec47a99b08ef1ca356ed5da5fbb977f5ae9ec18bb6c13 +size 797020 diff --git a/dresser/sim/chunk_061/episode_00000014_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000014_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8c981998fa652607029625b28b33ee71e7f218da --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000014_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d518bb1b9361e587c13ce1a9558ac40f1bfc1b8acc33a186c8e693be24f1b4c +size 110567 diff --git a/dresser/sim/chunk_061/episode_00000014_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000014_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..754f5f34ddb86d4ba86cfefc30f2f5088412debf --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000014_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:546201e4bce17e90b9e04a8dfc44ffae9978b55073bf3b2b7aa32057d8173298 +size 584110 diff --git a/dresser/sim/chunk_061/episode_00000015_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000015_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..172b39750909f102f34d9ad1d4f29221306ec9e5 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000015_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:642eab4a30023889c98545475567921d5b5fd4ad12c69877941a1c7e208608a9 +size 470275 diff --git a/dresser/sim/chunk_061/episode_00000015_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000015_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..63934fa389f3bfcdc32c3d39239938a17d504373 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000015_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4168e64a6910a17636bdadeba8654b38f63bf374abd99a0ce56672e56b7fccd +size 417465 diff --git a/dresser/sim/chunk_061/episode_00000015_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000015_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c82af23d30289f0ab9e18a22ed64d1fb5b307d59 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000015_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a9f2807d713afb8965a9ccb253f6f583faeed7bdc846423130498fe0ad2f478 +size 503096 diff --git a/dresser/sim/chunk_061/episode_00000015_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000015_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..630dbc6017d794c3b44479b188cac36a7ef93ed7 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000015_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e056ac4fabb702fba0e6725425053abfe0f52ad61c50fd8961c1ffc5c705403 +size 659872 diff --git a/dresser/sim/chunk_061/episode_00000015_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000015_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..55a5f5bc3b44e8b473fe176c41fce6723b82f654 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000015_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26e250fa2a5d2fe850dd234b1fe41edb5df4c919ace9944064453f1448fd6114 +size 104991 diff --git a/dresser/sim/chunk_061/episode_00000015_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000015_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..02646365a65877ed5ad61968fc78dfc251e4146d --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000015_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9c80044d4f92f91de9bb8ebc57c53c75cd519075dbaaa1deb34d482786d8bd4 +size 550420 diff --git a/dresser/sim/chunk_061/episode_00000016_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000016_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..48d0fde3d22e01bec28b6ac6da38b9480592feba --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000016_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8276286887ffa152fa55e74c69f343a77b6f8686eec6677804f12f9403b9e4e6 +size 415094 diff --git a/dresser/sim/chunk_061/episode_00000016_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000016_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b4eccf0422ba01e8daab0e2b59275c1728de9bc8 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000016_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5b00fac2fd6c62e582b1e25ec2008060359fe091b62a3a01930c583fa3ed00e +size 337304 diff --git a/dresser/sim/chunk_061/episode_00000016_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000016_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cb5cf434e024cd84fd84cf3729d07ffea8d0a6ce --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000016_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e08e9f49bf6fa5b12ea6001473c79617a11d69c9a337f072cef556dc3a773000 +size 496902 diff --git a/dresser/sim/chunk_061/episode_00000016_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000016_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d721194f4a0bdd8c0c829fbd4793c17b9f8ca84b --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000016_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f49d454f23af8d31c0678ed175d7d84793f1c6c1d90e15dc2524e4933e8e2b5f +size 819635 diff --git a/dresser/sim/chunk_061/episode_00000016_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000016_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fd842a1cbe80879357a6c54223aa9c224ef6ada9 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000016_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e13b3bc5fe48d7b90c81fa5d7859ab685a77b554246a7880e190374b7917aa89 +size 248797 diff --git a/dresser/sim/chunk_061/episode_00000016_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000016_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2b536ca5b6d398c5e1eb42b6ffdfab7f70de84c8 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000016_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80c85a2670998c9990c180d3cb6b19c4187b19d4e05add63ba7a515884168324 +size 772783 diff --git a/dresser/sim/chunk_061/episode_00000017_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000017_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..efe208babff214d480e80d9ca8a10c79ee2e726d --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000017_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7df54d71aa4f784ef86b68f53be9a680228839a896fa542341d6d8a82820cbc1 +size 537218 diff --git a/dresser/sim/chunk_061/episode_00000017_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000017_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b5ec26c83dfb9c4cc6e56c8110c4cc5721cae8cc --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000017_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e298266de8e2b358362b779aa15e657a00dea386780e83140579c7ef7dc531d0 +size 483764 diff --git a/dresser/sim/chunk_061/episode_00000017_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000017_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..268f456fa9eabf6f7724637b1595dd917c7c3f1a --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000017_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83d371eb5496229062fb95500c2967cdcb5cd9c8c150c341b8003c8047d4f746 +size 613652 diff --git a/dresser/sim/chunk_061/episode_00000017_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000017_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..40cd63922222a7385e1e88f05ec0e0fc4eced0a6 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000017_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8193e1c76c4db35315bea58e690addb3248d68a847b320ea487ee784dcaaa77 +size 653483 diff --git a/dresser/sim/chunk_061/episode_00000017_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000017_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6f6c893e4dc325129f987f42c1c3b34d497af4a2 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000017_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb53a31d9e402d3dbddb1c5010c25bfbbdbcd83edeb198fc351da4953d028247 +size 103243 diff --git a/dresser/sim/chunk_061/episode_00000017_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000017_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4e2673c2940670ecc2b5321eae82feaec84531b2 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000017_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0426cfd7aea3233b7df41a6d4faef1f1c52d1945ccf9ed8c6520f433122b8778 +size 480461 diff --git a/dresser/sim/chunk_061/episode_00000018_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000018_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..628e043fecd19553790075c8c0d4456816159386 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000018_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b8a5851617c071b5c13ed4559c9cf6e5cb275969e360a7b1acdcf0ce6c32afe +size 523486 diff --git a/dresser/sim/chunk_061/episode_00000018_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000018_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cab78833b493d3a4f215194c711e39f6df9559e3 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000018_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f4eb4b92d47f98496112a03d3dc6924deb81b83d0fa58218055a8efd56d7e72 +size 442120 diff --git a/dresser/sim/chunk_061/episode_00000018_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000018_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..55a20ca9e8279a4915898bec96e83da83ced6edf --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000018_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9251a94b7d8e0a911498b15f449f5addb65895dbbd91a063f91aa46c9d52004c +size 563192 diff --git a/dresser/sim/chunk_061/episode_00000018_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000018_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ecb97717f3e3d21b2fa29a15731ae28a1205dab2 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000018_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed9b2f9384bd2c583c63cbf845e082e41ab1f1860233f0d916b772e1e9c6b7d5 +size 678679 diff --git a/dresser/sim/chunk_061/episode_00000018_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000018_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..60e8392684c9296e93311016c005dc629d469c98 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000018_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4302fc1852008e12c06c7d712da0c9793d391f8de9d8ad0bfe8fafab7d01117e +size 99735 diff --git a/dresser/sim/chunk_061/episode_00000018_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000018_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2e15a4637f03371928a3da1cd591cbfcf4f302bd --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000018_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36125a096973e9f5cfb8f4850c2800609233520d366970e8fb8e5f382111891e +size 566898 diff --git a/dresser/sim/chunk_061/episode_00000019_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000019_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..de6f1b6133ac26cda387d2f0fe4a889cb0fa59ac --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000019_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:644a85a16a61d754b9d312d8df7bf3af1577329eea2a2a474168f3c947d76b84 +size 416689 diff --git a/dresser/sim/chunk_061/episode_00000019_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000019_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..51c29db9bc0303a0f8cfb67e122dae645c283028 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000019_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49d40e0d9b3942e771a3a6a6e6197f897b8fb577cad7757b87cb9695f790c723 +size 357798 diff --git a/dresser/sim/chunk_061/episode_00000019_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000019_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4bac5099c5c40dd9c310e485170b8283d122830f --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000019_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7edc825d86f64baeecdba31331a75796c9953021d425ffb22f9b17e47ce8f4df +size 550608 diff --git a/dresser/sim/chunk_061/episode_00000019_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000019_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cbea8065585e8fb54a763b2d12fa078fa521935b --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000019_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:351310f4f19d1db854e9f0ce18dff317b8990a00c2909e9be70cf1b4bd8903cd +size 1136434 diff --git a/dresser/sim/chunk_061/episode_00000019_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000019_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a53f750a2fe20d231c4da5cfc964111026d416fd --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000019_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d184df4eb10dec88471f43879209d74810f6b6b94a04c8f32d1083076a098d5d +size 176081 diff --git a/dresser/sim/chunk_061/episode_00000019_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_061/episode_00000019_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b73f408fe2a49e2a08b6ca60708f5822486c9fb0 --- /dev/null +++ b/dresser/sim/chunk_061/episode_00000019_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16d8e161fc2d3a1d4a9f960dbfbc1d3d07e56e1e9e93dbfd6916f09a72b2b39c +size 673514 diff --git a/dresser/sim/chunk_061/experiment_config_20260518_134224.pkl b/dresser/sim/chunk_061/experiment_config_20260518_134224.pkl new file mode 100644 index 0000000000000000000000000000000000000000..3c05ccb59f77230f6a2bb46f24a416f498af1319 --- /dev/null +++ b/dresser/sim/chunk_061/experiment_config_20260518_134224.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d246e1511f04362e6a5a78298dcde36530ae7913014384ded4df0592367ee37 +size 8144 diff --git a/dresser/sim/chunk_061/running_log.log b/dresser/sim/chunk_061/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..440d95272feb3997d2431141af554f6556b5c406 --- /dev/null +++ b/dresser/sim/chunk_061/running_log.log @@ -0,0 +1,4167 @@ +05/18 13:42:24 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/18 13:42:24 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/18 13:42:24 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 13:42:24 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/dresser/sim_chunks/chunk_061'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_dresser', + 'seed': 20061, + '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 13:42:24 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 13:42:24 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 13:42:24 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 13:42:25 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 13:42:30 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/FloorPlan1_physics.xml [task_sampler.py: 797] +05/18 13:42:30 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 13:42:30 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 13:42:30 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 13:42:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:42:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:42:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:42:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:42:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112591m [env.py: 870] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:42:30 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 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 16.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.11504181 -1.26577344 -0.11259075] yaw=-13.8deg [env.py: 1019] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:42:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=26.8ms, retries=235.0ms, total=261.8ms [env.py: 1075] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.115, -1.266, -0.113) [env.py: 1079] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.8 deg [env.py: 1082] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:42:31 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 36.824s [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 0.133s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.177s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:43:17 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:43:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:43:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:43:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:43:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:43:19 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 13:43:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:43:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169152m [env.py: 870] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:43:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -123.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.27750942 -1.08516955 -0.16915195] yaw=-29.3deg [env.py: 1019] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:43:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=240.4ms, total=240.4ms [env.py: 1075] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.278, -1.085, -0.169) [env.py: 1079] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.3 deg [env.py: 1082] +05/18 13:43:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/18 13:43:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:43:19 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 0.113s [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 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.806s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:43:25 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.725[m] 123.946[deg] [grasp_sample.py: 596] +05/18 13:43:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:43:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:43:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:43:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:44:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:44:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:44:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:12 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 13:45:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:45:12 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 13:45:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:45:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.252s, found 92 non-colliding grasps [grasp_sample.py: 520] +05/18 13:45:13 INFO: [Worker 0] Feasibility-checked 92 grasps in 0.959s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:45:13 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.037[m] 3.719[deg] [grasp_sample.py: 596] +05/18 13:45:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:45:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:45:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:29 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:45:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:46:05 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:46:27 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 13:46:27 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:46:27 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 13:46:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:46:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 13:46:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 13.98s (batch: 3.88s, save: 10.09s) [pipeline.py: 300] +05/18 13:46:42 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=6.84s: + episode_total: mean=127.92s, total=255.84s, count=2, min=52430.8ms, max=203412.3ms + sensor_polling: mean=484.2ms, total=145.27s, count=300, min=456.5ms, max=568.4ms + save_trajectories: mean=10.09s, total=10.09s, count=1, min=10093.0ms, max=10093.0ms + physics_step: mean=31.9ms, total=9.56s, count=300, min=24.8ms, max=43.0ms + task_sampling: mean=3.42s, total=6.84s, count=2, min=558.0ms, max=6285.9ms + scene_load: mean=5.67s, total=5.67s, count=1, min=5666.1ms, max=5666.1ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3884.2ms, max=3884.2ms + scene_env_create: mean=3.84s, total=3.84s, count=1, min=3836.3ms, max=3836.3ms + scene_compile: mean=1.51s, total=1.51s, count=1, min=1510.1ms, max=1510.1ms + task_specific_sample: mean=585.7ms, total=1.17s, count=2, min=554.7ms, max=616.7ms + compile_mujoco: mean=1.06s, total=1.06s, count=1, min=1060.4ms, max=1060.4ms + compile_xml_load: mean=334.1ms, total=334.1ms, count=1, min=334.1ms, max=334.1ms + scene_asset_install: mean=198.3ms, total=198.3ms, count=1, min=198.3ms, max=198.3ms + asset_install_grasps: mean=127.5ms, total=127.5ms, count=1, min=127.5ms, max=127.5ms + scene_init: mean=121.2ms, total=121.2ms, count=1, min=121.2ms, max=121.2ms + compile_aux_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms + compile_aux_policy_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms + asset_install_objects: mean=66.7ms, total=66.7ms, count=1, min=66.7ms, max=66.7ms + compile_robot_add: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.4ms, max=1.8ms + mj_forward_sync: mean=569.9us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=31.4us, 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 13:46:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:44 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 13:46:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106515m [env.py: 870] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -94.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.48609404 -0.85274933 -0.10651485] yaw=-46.0deg [env.py: 1019] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.05170802 -1.39639945 -0.10651485] yaw=-12.7deg [env.py: 1019] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=237.3ms, total=237.4ms [env.py: 1075] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.486, -0.853, -0.107) [env.py: 1079] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.0 deg [env.py: 1082] +05/18 13:46:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m [env.py: 1086] +05/18 13:46:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:44 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.128s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:44 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 13:46:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.904s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:53 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.922[m] 110.301[deg] [grasp_sample.py: 596] +05/18 13:46:54 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:46:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:46:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:56 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 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141773m [env.py: 870] +05/18 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 76.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 29.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.228876 -1.04553966 -0.14177302] yaw=-60.3deg [env.py: 1019] +05/18 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=244.5ms, total=244.5ms [env.py: 1075] +05/18 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.229, -1.046, -0.142) [env.py: 1079] +05/18 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.3 deg [env.py: 1082] +05/18 13:46:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/18 13:46:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:57 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:46:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.232s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:09 INFO: [Worker 0] Feasible grasp found 436 (originally 129): w/ 0.717[m] 107.136[deg] [grasp_sample.py: 596] +05/18 13:47:11 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:47:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:47:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:47:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:47:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:47:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:47:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:47:13 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186089m [env.py: 870] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:47:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.16852026 -1.15248536 -0.18608941] yaw=-61.9deg [env.py: 1019] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.9130316 -0.91488844 -0.18608941] yaw=-106.1deg [env.py: 1019] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 73.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.50236725 -1.0508519 -0.18608941] yaw=-32.9deg [env.py: 1019] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:47:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=175.6ms, total=175.6ms [env.py: 1075] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.169, -1.152, -0.186) [env.py: 1079] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.9 deg [env.py: 1082] +05/18 13:47:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/18 13:47:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:47:13 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 13:47:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s [base_object_manipulation_planner_policy.py: 377] +05/18 13:47:13 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 13:47:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.459s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:19 INFO: [Worker 0] Feasible grasp found 527 (originally 220): w/ 0.721[m] 109.855[deg] [grasp_sample.py: 596] +05/18 13:47:21 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:47:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:47:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:47:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:47:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:47:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:47:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:47:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143706m [env.py: 870] +05/18 13:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:47:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -27.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 173.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.31184255 -1.03830033 -0.14370604] yaw=-59.2deg [env.py: 1019] +05/18 13:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.85405659 -0.78609302 -0.14370604] yaw=-86.8deg [env.py: 1019] +05/18 13:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.3988663 -0.94749734 -0.14370604] yaw=-27.9deg [env.py: 1019] +05/18 13:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:47:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=259.2ms, total=259.2ms [env.py: 1075] +05/18 13:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.312, -1.038, -0.144) [env.py: 1079] +05/18 13:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.2 deg [env.py: 1082] +05/18 13:47:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/18 13:47:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:47:23 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 13:47:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 13:47:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:47:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.920s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:30 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.824[m] 102.356[deg] [grasp_sample.py: 596] +05/18 13:47:32 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:47:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:47:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:47:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:47:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:47:34 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 13:47:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:47:34 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 13:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180625m [env.py: 870] +05/18 13:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:47:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.78444373 -0.81470616 -0.18062498] yaw=-98.8deg [env.py: 1019] +05/18 13:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 175.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:47:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=256.3ms, total=256.3ms [env.py: 1075] +05/18 13:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.784, -0.815, -0.181) [env.py: 1079] +05/18 13:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.8 deg [env.py: 1082] +05/18 13:47:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/18 13:47:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:47:34 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 13:47:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 13:47:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:47:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.330s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:39 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.848[m] 76.382[deg] [grasp_sample.py: 596] +05/18 13:47:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:47:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:47:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:48:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:48:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:48:21 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 13:48:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:48:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:48:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.305s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:48:24 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.657[m] 55.675[deg] [grasp_sample.py: 596] +05/18 13:48:26 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:48:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:48:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:48:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:48:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:48:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:48:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:48:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146414m [env.py: 870] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:48:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 87.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31188163 -1.09191183 -0.14641423] yaw=-16.8deg [env.py: 1019] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.05321842 -1.24847406 -0.14641423] yaw=-20.0deg [env.py: 1019] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:48:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=242.9ms, total=243.0ms [env.py: 1075] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.312, -1.092, -0.146) [env.py: 1079] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -16.8 deg [env.py: 1082] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.903m [env.py: 1086] +05/18 13:48:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:48:29 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 13:48:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 13:48:29 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 13:48:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:48:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:48:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.565s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:48:30 INFO: [Worker 0] Feasible grasp found 260 (originally 260): w/ 0.668[m] 69.443[deg] [grasp_sample.py: 596] +05/18 13:48:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:48:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:48:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:48:32 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 13:49:38 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:49:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:49:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:50:52 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:51:12 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 13:51:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:51:12 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 278] +05/18 13:51:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:51:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 13:51:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 12.64s (batch: 3.80s, save: 8.85s) [pipeline.py: 300] +05/18 13:51:25 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=3.34s: + episode_total: mean=45.45s, total=272.73s, count=6, min=8042.9ms, max=177419.4ms + sensor_polling: mean=486.5ms, total=156.15s, count=321, min=454.7ms, max=583.5ms + physics_step: mean=31.5ms, total=10.12s, count=321, min=22.1ms, max=43.9ms + save_trajectories: mean=8.85s, total=8.85s, count=1, min=8846.2ms, max=8846.2ms + save_batch_prep: mean=3.80s, total=3.80s, count=1, min=3795.9ms, max=3795.9ms + task_sampling: mean=556.6ms, total=3.34s, count=6, min=500.9ms, max=585.5ms + task_specific_sample: mean=552.9ms, total=3.32s, count=6, min=496.9ms, max=581.5ms + scene_randomize: mean=2.1ms, total=12.4ms, count=6, min=1.6ms, max=2.7ms + mj_forward_sync: mean=609.3us, total=3.7ms, count=6, min=0.5ms, max=0.7ms + policy_setup: mean=27.5us, total=0.2ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:51:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:51:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:51:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:51:27 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 13:51:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:51:27 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 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114743m [env.py: 870] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:51:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17339587 -1.207725 -0.11474336] yaw=-18.2deg [env.py: 1019] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.27972678 -0.9156151 -0.11474336] yaw=-47.6deg [env.py: 1019] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.11616883 -1.31618457 -0.11474336] yaw=-8.7deg [env.py: 1019] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:51:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=200.1ms, total=200.2ms [env.py: 1075] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.173, -1.208, -0.115) [env.py: 1079] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.2 deg [env.py: 1082] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/18 13:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:51:28 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 13:51:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s [base_object_manipulation_planner_policy.py: 377] +05/18 13:51:28 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 13:51:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:51:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 36.601s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:05 INFO: [Worker 0] Feasible grasp found 301 (originally 301): w/ 0.774[m] 89.883[deg] [grasp_sample.py: 596] +05/18 13:52:06 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:52:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112682m [env.py: 870] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.91840494 -0.8675761 -0.11268212] yaw=-105.0deg [env.py: 1019] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.54451724 -0.85484457 -0.11268212] yaw=-91.7deg [env.py: 1019] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=238.2ms, total=238.2ms [env.py: 1075] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.918, -0.868, -0.113) [env.py: 1079] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.0 deg [env.py: 1082] +05/18 13:52:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/18 13:52:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:09 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.454s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:10 INFO: [Worker 0] Feasible grasp found 454 (originally 147): w/ 0.642[m] 97.039[deg] [grasp_sample.py: 596] +05/18 13:52:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:52:11 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:52:11 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:52:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:52:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:52:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:52:38 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 13:52:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.190s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:47 INFO: [Worker 0] Feasible grasp found 516 (originally 209): w/ 0.575[m] 83.378[deg] [grasp_sample.py: 596] +05/18 13:52:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:52:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:52:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:52:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:53:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:53:05 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 13:53:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:53:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:53:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 26.478s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:53:32 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.571[m] 82.790[deg] [grasp_sample.py: 596] +05/18 13:53:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:53:33 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:53:33 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:53:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:53:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:53:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:53:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:53:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:54:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.712s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:54:01 INFO: [Worker 0] Feasible grasp found 522 (originally 215): w/ 0.571[m] 82.062[deg] [grasp_sample.py: 596] +05/18 13:54:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:54:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:54:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:54:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:54:18 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 13:54:19 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 13:54:19 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=False episode_total=1.06s: + episode_total: mean=84.85s, total=169.70s, count=2, min=39105.1ms, max=130593.9ms + sensor_polling: mean=477.7ms, total=26.75s, count=56, min=452.8ms, max=572.3ms + physics_step: mean=26.6ms, total=1.49s, count=56, min=19.5ms, max=31.9ms + task_sampling: mean=532.1ms, total=1.06s, count=2, min=516.9ms, max=547.2ms + task_specific_sample: mean=527.7ms, total=1.06s, count=2, min=512.7ms, max=542.7ms + scene_randomize: mean=2.5ms, total=5.1ms, count=2, min=2.3ms, max=2.8ms + mj_forward_sync: mean=594.9us, total=1.2ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=21.7us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:54:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:54:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:54:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:54:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:54:20 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 13:54:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:54:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186680m [env.py: 870] +05/18 13:54:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:54:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 15.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.78803262 -0.69490411 -0.18667979] yaw=-81.3deg [env.py: 1019] +05/18 13:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -113.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.3998704 -1.0055213 -0.18667979] yaw=-65.6deg [env.py: 1019] +05/18 13:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:54:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=259.0ms, total=259.1ms [env.py: 1075] +05/18 13:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.788, -0.695, -0.187) [env.py: 1079] +05/18 13:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.3 deg [env.py: 1082] +05/18 13:54:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/18 13:54:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:54:21 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 13:54:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/18 13:54:21 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 13:54:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:54:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:54:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 35.592s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:54:57 INFO: [Worker 0] Feasible grasp found 319 (originally 12): w/ 0.798[m] 82.548[deg] [grasp_sample.py: 596] +05/18 13:54:59 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:55:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:55:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186638m [env.py: 870] +05/18 13:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -161.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -117.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=228.1ms, total=228.2ms [env.py: 1105] +05/18 13:55:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:55:01 ERROR: [Worker 0] Worker 0 house 1 episode 11 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:55:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:55:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:02 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 13:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149958m [env.py: 870] +05/18 13:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.65685957 -0.74739443 -0.14995752] yaw=-76.2deg [env.py: 1019] +05/18 13:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16872794 -1.31859717 -0.14995752] yaw=-37.3deg [env.py: 1019] +05/18 13:55:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26810176 -0.87271215 -0.14995752] yaw=-70.0deg [env.py: 1019] +05/18 13:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:55:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=212.9ms, total=212.9ms [env.py: 1075] +05/18 13:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.657, -0.747, -0.150) [env.py: 1079] +05/18 13:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.2 deg [env.py: 1082] +05/18 13:55:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.026m [env.py: 1086] +05/18 13:55:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:55:03 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 13:55:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 13:55:03 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 13:55:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:55:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.852s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:55:09 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.826[m] 68.776[deg] [grasp_sample.py: 596] +05/18 13:55:11 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:55:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:55:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109991m [env.py: 870] +05/18 13:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50413444 -1.03122822 -0.10999117] yaw=-42.0deg [env.py: 1019] +05/18 13:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 10.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:55:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=239.8ms, total=239.8ms [env.py: 1075] +05/18 13:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.504, -1.031, -0.110) [env.py: 1079] +05/18 13:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.0 deg [env.py: 1082] +05/18 13:55:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.830m [env.py: 1086] +05/18 13:55:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:55:13 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 13:55:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 13:55:13 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 13:55:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:55:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.065s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:55:15 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.588[m] 77.658[deg] [grasp_sample.py: 596] +05/18 13:55:17 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:55:17 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 13:55:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:19 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 13:55:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:19 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 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173591m [env.py: 870] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 85.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -26.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.35868588 -0.82256333 -0.17359111] yaw=-71.1deg [env.py: 1019] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:55:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=227.9ms, total=227.9ms [env.py: 1075] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -0.823, -0.174) [env.py: 1079] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.1 deg [env.py: 1082] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:55:19 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 13:55:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/18 13:55:19 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 13:55:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:55:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.952s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:55:24 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:55:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:55:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199140m [env.py: 870] +05/18 13:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=226.6ms, total=226.7ms [env.py: 1105] +05/18 13:55:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:55:26 ERROR: [Worker 0] Worker 0 house 1 episode 15 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:55:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:55:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:28 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 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125146m [env.py: 870] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -143.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.31682815 -0.86314794 -0.12514565] yaw=-50.4deg [env.py: 1019] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.88274799 -0.91051509 -0.12514565] yaw=-75.2deg [env.py: 1019] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.74240547 -0.73671013 -0.12514565] yaw=-58.3deg [env.py: 1019] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:55:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.9ms, total=224.0ms [env.py: 1075] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.317, -0.863, -0.125) [env.py: 1079] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.4 deg [env.py: 1082] +05/18 13:55:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/18 13:55:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:55:29 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 13:55:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 13:55:29 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 13:55:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:55:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.982s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:55:34 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:55:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:36 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 13:55:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:36 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 13:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155147m [env.py: 870] +05/18 13:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -72.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=223.4ms, total=223.4ms [env.py: 1105] +05/18 13:55:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:55:36 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:55:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:55:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125902m [env.py: 870] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.21699561 -1.37069193 -0.12590225] yaw=-6.2deg [env.py: 1019] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -129.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.5892159 -0.72638574 -0.12590225] yaw=-44.7deg [env.py: 1019] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.58221542 -0.91905169 -0.12590225] yaw=-70.9deg [env.py: 1019] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:55:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=200.1ms, total=200.2ms [env.py: 1075] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.217, -1.371, -0.126) [env.py: 1079] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -6.2 deg [env.py: 1082] +05/18 13:55:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/18 13:55:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:55:38 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 13:55:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 13:55:38 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 13:55:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:55:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.151s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.482s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:55:54 INFO: [Worker 0] Feasible grasp found 19 (originally 19): w/ 0.640[m] 70.217[deg] [grasp_sample.py: 596] +05/18 13:55:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:55:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:55:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:55:55 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 13:56:57 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:57:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:57:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:58:10 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:58:30 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 13:58:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:58:30 INFO: [Worker 0] Preparing episode data: 260 timesteps [save_utils.py: 278] +05/18 13:58:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:58:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 13:58:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 12.51s (batch: 3.76s, save: 8.76s) [pipeline.py: 300] +05/18 13:58:43 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=3.25s: + episode_total: mean=27.62s, total=248.57s, count=9, min=233.8ms, max=185379.5ms + sensor_polling: mean=484.0ms, total=125.35s, count=259, min=456.6ms, max=586.9ms + save_trajectories: mean=8.76s, total=8.76s, count=1, min=8755.6ms, max=8755.6ms + physics_step: mean=31.0ms, total=8.03s, count=259, min=24.9ms, max=42.4ms + task_specific_sample: mean=435.7ms, total=3.92s, count=9, min=229.6ms, max=588.1ms + save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3755.2ms, max=3755.2ms + task_sampling: mean=540.8ms, total=3.25s, count=6, min=499.2ms, max=591.5ms + task_sampling_failed: mean=237.0ms, total=711.1ms, count=3, min=233.8ms, max=239.7ms + scene_randomize: mean=1.7ms, total=15.3ms, count=9, min=1.4ms, max=2.3ms + mj_forward_sync: mean=632.7us, total=5.7ms, count=9, min=0.5ms, max=0.9ms + policy_setup: mean=19.2us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:58:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:58:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:58:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:58:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:58:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:58:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:58:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:58:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:58:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:58:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:58:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134702m [env.py: 870] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:58:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -75.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 28.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64454922 -0.93778568 -0.13470227] yaw=-93.0deg [env.py: 1019] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.41747022 -0.98079573 -0.13470227] yaw=-79.8deg [env.py: 1019] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:58:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=253.2ms, total=253.2ms [env.py: 1075] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.645, -0.938, -0.135) [env.py: 1079] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.0 deg [env.py: 1082] +05/18 13:58:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.850m [env.py: 1086] +05/18 13:58:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:58:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:58:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:58:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:58:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:58:45 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 13:58:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s [base_object_manipulation_planner_policy.py: 377] +05/18 13:58:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:58:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:58:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:58:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.443s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:58:48 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.557[m] 89.143[deg] [grasp_sample.py: 596] +05/18 13:58:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:58:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:58:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:58:49 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 13:59:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:00:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:01:07 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:01:26 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 14:01:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:01:26 INFO: [Worker 0] Preparing episode data: 248 timesteps [save_utils.py: 278] +05/18 14:01:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:01:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 14:01:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 11.88s (batch: 3.55s, save: 8.33s) [pipeline.py: 300] +05/18 14:01:38 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.58s: + episode_total: mean=173.67s, total=173.67s, count=1, min=173670.0ms, max=173670.0ms + sensor_polling: mean=497.5ms, total=122.88s, count=247, min=461.8ms, max=596.5ms + save_trajectories: mean=8.33s, total=8.33s, count=1, min=8328.3ms, max=8328.3ms + physics_step: mean=33.0ms, total=8.16s, count=247, min=27.8ms, max=52.3ms + save_batch_prep: mean=3.55s, total=3.55s, count=1, min=3552.4ms, max=3552.4ms + task_sampling: mean=577.7ms, total=577.7ms, count=1, min=577.7ms, max=577.7ms + task_specific_sample: mean=573.5ms, total=573.5ms, count=1, min=573.5ms, max=573.5ms + scene_randomize: mean=2.6ms, total=2.6ms, count=1, min=2.6ms, max=2.6ms + mj_forward_sync: mean=689.9us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=21.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 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=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, 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: -0.173226m [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 -28.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -36.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.8284548 -0.8744884 -0.17322603] yaw=-68.5deg [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 5: bearing -59.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.43456774 -0.82544724 -0.17322603] yaw=-32.2deg [env.py: 1019] +05/18 14:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:01:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=248.7ms, total=248.7ms [env.py: 1075] +05/18 14:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.828, -0.874, -0.173) [env.py: 1079] +05/18 14:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.5 deg [env.py: 1082] +05/18 14:01:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/18 14:01:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:01:41 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 14:01:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/18 14:01:41 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 14:01:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:01:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.700s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:01:44 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.578[m] 89.236[deg] [grasp_sample.py: 596] +05/18 14:01:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:01:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:01:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:01:45 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 14:02:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:03:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:04:03 INFO: [Worker 0] Worker 0 house 1 episode 20 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:04:22 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 14:04:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:04:22 INFO: [Worker 0] Preparing episode data: 255 timesteps [save_utils.py: 278] +05/18 14:04:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:04:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 14:04:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 12.42s (batch: 3.79s, save: 8.63s) [pipeline.py: 300] +05/18 14:04:35 INFO: [Worker 0] [PROFILE] Episode 20 house 1 success=True episode_total=0.58s: + episode_total: mean=175.23s, total=175.23s, count=1, min=175233.0ms, max=175233.0ms + sensor_polling: mean=492.2ms, total=125.03s, count=254, min=463.0ms, max=596.0ms + save_trajectories: mean=8.63s, total=8.63s, count=1, min=8631.0ms, max=8631.0ms + physics_step: mean=32.6ms, total=8.29s, count=254, min=23.9ms, max=46.1ms + save_batch_prep: mean=3.79s, total=3.79s, count=1, min=3787.5ms, max=3787.5ms + task_sampling: mean=576.9ms, total=576.9ms, count=1, min=576.9ms, max=576.9ms + task_specific_sample: mean=572.2ms, total=572.2ms, count=1, min=572.2ms, max=572.2ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=736.2us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=39.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:04:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:37 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 14:04:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:37 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 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122619m [env.py: 870] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.40884308 -0.82564367 -0.12261876] yaw=-69.4deg [env.py: 1019] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.83214669 -0.8915339 -0.12261876] yaw=-93.9deg [env.py: 1019] +05/18 14:04:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.07148492 -1.19573344 -0.12261876] yaw=-6.4deg [env.py: 1019] +05/18 14:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:04:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=146.1ms, total=146.1ms [env.py: 1075] +05/18 14:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.409, -0.826, -0.123) [env.py: 1079] +05/18 14:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.4 deg [env.py: 1082] +05/18 14:04:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m [env.py: 1086] +05/18 14:04:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:04:38 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 14:04:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s [base_object_manipulation_planner_policy.py: 377] +05/18 14:04:38 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 14:04:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.562s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:04:44 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:04:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:46 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 14:04:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:46 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 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123221m [env.py: 870] +05/18 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23347978 -1.08932613 -0.12322125] yaw=-29.9deg [env.py: 1019] +05/18 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.79560523 -0.67351646 -0.12322125] yaw=-77.8deg [env.py: 1019] +05/18 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:04:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=249.9ms, total=250.0ms [env.py: 1075] +05/18 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.233, -1.089, -0.123) [env.py: 1079] +05/18 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.9 deg [env.py: 1082] +05/18 14:04:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/18 14:04:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:04:46 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 14:04:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 14:04:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:04:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.143s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.924s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:04:53 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 1.003[m] 83.069[deg] [grasp_sample.py: 596] +05/18 14:04:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:04:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:04:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:04:54 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 14:06:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:06:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:06:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:07:34 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:07:57 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 14:07:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:07:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:08:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:08:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 14:08:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 14.66s (batch: 3.93s, save: 10.74s) [pipeline.py: 300] +05/18 14:08:12 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=1.05s: + episode_total: mean=106.35s, total=212.70s, count=2, min=6330.2ms, max=206367.1ms + sensor_polling: mean=479.4ms, total=143.82s, count=300, min=441.7ms, max=579.8ms + save_trajectories: mean=10.74s, total=10.74s, count=1, min=10739.1ms, max=10739.1ms + physics_step: mean=31.5ms, total=9.44s, count=300, min=22.1ms, max=45.7ms + save_batch_prep: mean=3.93s, total=3.93s, count=1, min=3925.8ms, max=3925.8ms + task_sampling: mean=524.1ms, total=1.05s, count=2, min=481.4ms, max=566.8ms + task_specific_sample: mean=520.2ms, total=1.04s, count=2, min=477.2ms, max=563.2ms + scene_randomize: mean=2.1ms, total=4.3ms, count=2, min=1.6ms, max=2.7ms + mj_forward_sync: mean=589.5us, total=1.2ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=24.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:08:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:08:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:08:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:08:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:08:14 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 14:08:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:08:14 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 14:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152307m [env.py: 870] +05/18 14:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:08:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=251.4ms, total=251.5ms [env.py: 1105] +05/18 14:08:14 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:08:14 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:08:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:08:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:08:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:08:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:08:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:08:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:08:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172411m [env.py: 870] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:08:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.14944232 -1.08557213 -0.17241149] yaw=-19.0deg [env.py: 1019] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[-0.05060254 -1.28364847 -0.17241149] yaw=-28.2deg [env.py: 1019] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:08:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=246.0ms, total=246.1ms [env.py: 1075] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.149, -1.086, -0.172) [env.py: 1079] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -19.0 deg [env.py: 1082] +05/18 14:08:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.028m [env.py: 1086] +05/18 14:08:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:08:16 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 14:08:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/18 14:08:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:08:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:08:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:08:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.008s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:08:22 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:08:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:08:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:08:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:08:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:08:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:08:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:08:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122904m [env.py: 870] +05/18 14:08:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:08:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 37.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49757453 -0.92846127 -0.12290429] yaw=-83.0deg [env.py: 1019] +05/18 14:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.83457664 -0.65843245 -0.12290429] yaw=-80.5deg [env.py: 1019] +05/18 14:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:08:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=267.8ms, total=267.9ms [env.py: 1075] +05/18 14:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.498, -0.928, -0.123) [env.py: 1079] +05/18 14:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.0 deg [env.py: 1082] +05/18 14:08:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m [env.py: 1086] +05/18 14:08:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:08:24 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 14:08:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 14:08:24 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 14:08:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:08:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:08:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.042s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:08:34 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.716[m] 111.466[deg] [grasp_sample.py: 596] +05/18 14:08:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:08:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:08:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:08:35 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 14:09:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:10:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:11:20 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:11:42 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 14:11:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:11:42 INFO: [Worker 0] Preparing episode data: 287 timesteps [save_utils.py: 278] +05/18 14:11:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:11:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 14:11:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 13.22s (batch: 3.89s, save: 9.33s) [pipeline.py: 300] +05/18 14:11:56 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=1.16s: + episode_total: mean=72.88s, total=218.64s, count=3, min=265.9ms, max=212516.7ms + sensor_polling: mean=485.3ms, total=138.81s, count=286, min=458.6ms, max=629.3ms + save_trajectories: mean=9.33s, total=9.33s, count=1, min=9334.5ms, max=9334.5ms + physics_step: mean=32.1ms, total=9.17s, count=286, min=24.2ms, max=38.5ms + save_batch_prep: mean=3.89s, total=3.89s, count=1, min=3888.7ms, max=3888.7ms + task_specific_sample: mean=471.7ms, total=1.42s, count=3, min=258.7ms, max=586.4ms + task_sampling: mean=581.5ms, total=1.16s, count=2, min=573.3ms, max=589.6ms + task_sampling_failed: mean=265.8ms, total=265.8ms, count=1, min=265.8ms, max=265.8ms + scene_randomize: mean=2.0ms, total=5.9ms, count=3, min=1.5ms, max=2.8ms + mj_forward_sync: mean=564.0us, total=1.7ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=19.6us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:11:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178272m [env.py: 870] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 90.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.60821862 -0.96998034 -0.17827235] yaw=-86.3deg [env.py: 1019] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=233.6ms, total=233.7ms [env.py: 1075] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.608, -0.970, -0.178) [env.py: 1079] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.3 deg [env.py: 1082] +05/18 14:11:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.834m [env.py: 1086] +05/18 14:11:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:58 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:58 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 14:11:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.162s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:12:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.873s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:12:02 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.700[m] 108.270[deg] [grasp_sample.py: 596] +05/18 14:12:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:12:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:12:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:12:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:13:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:13:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:13:18 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 14:13:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.201s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:13:20 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.126[m] 14.352[deg] [grasp_sample.py: 596] +05/18 14:13:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:13:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:13:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:13:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:38 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:13:38 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:13:38 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 14:13:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.239s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:13:40 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.122[m] 13.639[deg] [grasp_sample.py: 596] +05/18 14:13:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:13:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:13:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:13:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:13:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:13:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:13:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.188s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:13:58 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.122[m] 13.638[deg] [grasp_sample.py: 596] +05/18 14:13:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:13:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:13:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:14:16 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:14:16 INFO: [Worker 0] Worker 0 house 1 episode 26 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:14:16 INFO: [Worker 0] [PROFILE] Episode 26 house 1 success=False episode_total=0.56s: + episode_total: mean=138.76s, total=138.76s, count=1, min=138762.4ms, max=138762.4ms + sensor_polling: mean=473.9ms, total=72.04s, count=152, min=437.1ms, max=544.8ms + physics_step: mean=28.9ms, total=4.39s, count=152, min=20.0ms, max=46.1ms + task_sampling: mean=558.7ms, total=558.7ms, count=1, min=558.7ms, max=558.7ms + task_specific_sample: mean=554.4ms, total=554.4ms, count=1, min=554.4ms, max=554.4ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=615.3us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=21.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:14:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:18 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 14:14:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:14:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175655m [env.py: 870] +05/18 14:14:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31219474 -1.19482811 -0.17565527] yaw=-49.7deg [env.py: 1019] +05/18 14:14:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -56.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.69356191 -0.83072162 -0.17565527] yaw=-46.8deg [env.py: 1019] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19349014 -1.33495629 -0.17565527] yaw=-10.6deg [env.py: 1019] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=295.5ms, total=295.6ms [env.py: 1075] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.312, -1.195, -0.176) [env.py: 1079] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg [env.py: 1082] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m [env.py: 1086] +05/18 14:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:19 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:19 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 14:14:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.057s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:24 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.540[m] 109.784[deg] [grasp_sample.py: 596] +05/18 14:14:26 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:14:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:28 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 14:14:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:28 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 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154261m [env.py: 870] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 53.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.2116093 -1.28292034 -0.15426095] yaw=-41.6deg [env.py: 1019] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.66842036 -0.79628242 -0.15426095] yaw=-45.7deg [env.py: 1019] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=238.8ms, total=238.9ms [env.py: 1075] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.212, -1.283, -0.154) [env.py: 1079] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -41.6 deg [env.py: 1082] +05/18 14:14:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/18 14:14:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:28 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:14:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.132s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:34 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.642[m] 91.565[deg] [grasp_sample.py: 596] +05/18 14:14:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:14:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:14:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:35 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 14:15:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:15:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:15:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:54 INFO: [Worker 0] Worker 0 house 1 episode 28 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:17:14 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 14:17:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:17:14 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/18 14:17:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:17:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 14:17:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 12.67s (batch: 3.58s, save: 9.10s) [pipeline.py: 300] +05/18 14:17:28 INFO: [Worker 0] [PROFILE] Episode 28 house 1 success=True episode_total=1.17s: + episode_total: mean=93.78s, total=187.56s, count=2, min=7714.0ms, max=179847.8ms + sensor_polling: mean=483.0ms, total=127.50s, count=264, min=460.8ms, max=571.0ms + save_trajectories: mean=9.10s, total=9.10s, count=1, min=9097.1ms, max=9097.1ms + physics_step: mean=32.2ms, total=8.49s, count=264, min=24.5ms, max=39.5ms + save_batch_prep: mean=3.58s, total=3.58s, count=1, min=3577.7ms, max=3577.7ms + task_sampling: mean=584.5ms, total=1.17s, count=2, min=554.1ms, max=614.8ms + task_specific_sample: mean=580.2ms, total=1.16s, count=2, min=550.0ms, max=610.5ms + scene_randomize: mean=1.7ms, total=3.3ms, count=2, min=1.5ms, max=1.8ms + mj_forward_sync: mean=613.2us, 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 14:17:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:17:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.184m, effective arm-mount z=0.676m (base_body_z=-0.184m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184340m [env.py: 870] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 47.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 10.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=247.0ms, total=247.1ms [env.py: 1105] +05/18 14:17:30 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:17:30 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:17:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:31 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 14:17:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:31 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 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175439m [env.py: 870] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.48465029 -0.97005377 -0.17543905] yaw=-54.9deg [env.py: 1019] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36731292 -0.90038176 -0.17543905] yaw=-43.2deg [env.py: 1019] +05/18 14:17:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -11.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22307057 -0.96817801 -0.17543905] yaw=-52.6deg [env.py: 1019] +05/18 14:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=177.1ms, total=177.2ms [env.py: 1075] +05/18 14:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.485, -0.970, -0.175) [env.py: 1079] +05/18 14:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg [env.py: 1082] +05/18 14:17:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.892m [env.py: 1086] +05/18 14:17:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:32 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:32 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 14:17:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.111s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:17:42 INFO: [Worker 0] Feasible grasp found 551 (originally 244): w/ 0.688[m] 89.992[deg] [grasp_sample.py: 596] +05/18 14:17:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:17:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:17:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:17:43 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 14:19:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:19:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:21 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 14:19:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:19:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:19:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:34 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:20:55 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 14:20:55 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:20:55 INFO: [Worker 0] Preparing episode data: 279 timesteps [save_utils.py: 278] +05/18 14:21:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:21:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 14:21:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 13.64s (batch: 3.88s, save: 9.76s) [pipeline.py: 300] +05/18 14:21:09 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=0.51s: + episode_total: mean=109.10s, total=218.20s, count=2, min=260.5ms, max=217942.4ms + sensor_polling: mean=499.1ms, total=138.76s, count=278, min=456.0ms, max=606.0ms + save_trajectories: mean=9.76s, total=9.76s, count=1, min=9758.5ms, max=9758.5ms + physics_step: mean=34.2ms, total=9.52s, count=278, min=23.9ms, max=51.2ms + save_batch_prep: mean=3.88s, total=3.88s, count=1, min=3883.6ms, max=3883.6ms + task_specific_sample: mean=379.9ms, total=759.8ms, count=2, min=254.4ms, max=505.4ms + task_sampling: mean=509.0ms, total=509.0ms, count=1, min=509.0ms, max=509.0ms + task_sampling_failed: mean=260.5ms, total=260.5ms, count=1, min=260.5ms, max=260.5ms + scene_randomize: mean=2.2ms, total=4.3ms, count=2, min=1.6ms, max=2.7ms + mj_forward_sync: mean=608.7us, total=1.2ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=23.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:21:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:21:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:21:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:21:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:21:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:21:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:21:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197641m [env.py: 870] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:21:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -8.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48649868 -0.98996084 -0.19764144] yaw=-63.5deg [env.py: 1019] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.05914566 -1.26378675 -0.19764144] yaw=-49.0deg [env.py: 1019] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:21:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=271.3ms, total=271.4ms [env.py: 1075] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.486, -0.990, -0.198) [env.py: 1079] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.5 deg [env.py: 1082] +05/18 14:21:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:21:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:21:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:21:12 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 14:21:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s [base_object_manipulation_planner_policy.py: 377] +05/18 14:21:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:21:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:21:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:21:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.616s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:21:25 INFO: [Worker 0] Feasible grasp found 527 (originally 220): w/ 0.567[m] 85.503[deg] [grasp_sample.py: 596] +05/18 14:21:26 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:21:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:21:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:21:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:21:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:21:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:21:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:21:28 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 14:21:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:21:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193221m [env.py: 870] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:21:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -138.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36440866 -0.92123132 -0.19322067] yaw=-42.1deg [env.py: 1019] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -137.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.65463032 -0.7001036 -0.19322067] yaw=-102.4deg [env.py: 1019] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:21:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=254.7ms, total=254.7ms [env.py: 1075] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.364, -0.921, -0.193) [env.py: 1079] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.1 deg [env.py: 1082] +05/18 14:21:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.999m [env.py: 1086] +05/18 14:21:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:21:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:21:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:21:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:21:29 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 14:21:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.122s [base_object_manipulation_planner_policy.py: 377] +05/18 14:21:29 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 14:21:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:21:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:21:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.932s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:21:36 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.736[m] 46.251[deg] [grasp_sample.py: 596] +05/18 14:21:38 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:21:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:21:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:21:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:21:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:21:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:21:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:21:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:21:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:21:40 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 14:21:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:21:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199522m [env.py: 870] +05/18 14:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:21:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -113.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -135.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=251.8ms, total=251.9ms [env.py: 1105] +05/18 14:21:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:21:40 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 14:21:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:21:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:21:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:21:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:21:42 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 14:21:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:21:42 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 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112635m [env.py: 870] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:21:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.91232619 -0.92831064 -0.112635 ] yaw=-67.1deg [env.py: 1019] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24087018 -0.92401918 -0.112635 ] yaw=-30.0deg [env.py: 1019] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -76.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.56266767 -0.95018922 -0.112635 ] yaw=-66.4deg [env.py: 1019] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:21:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=197.4ms, total=197.4ms [env.py: 1075] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.912, -0.928, -0.113) [env.py: 1079] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.1 deg [env.py: 1082] +05/18 14:21:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/18 14:21:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:21:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:21:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:21:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:21:42 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 14:21:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:21:42 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 14:21:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:21:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 43.559s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:22:26 INFO: [Worker 0] Feasible grasp found 176 (originally 176): w/ 0.641[m] 108.045[deg] [grasp_sample.py: 596] +05/18 14:22:28 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:22:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:22:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:29 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 14:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159127m [env.py: 870] +05/18 14:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -37.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.90463945 -0.83370615 -0.15912668] yaw=-87.3deg [env.py: 1019] +05/18 14:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.81224067 -0.83063747 -0.15912668] yaw=-54.4deg [env.py: 1019] +05/18 14:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.38600589 -1.02191116 -0.15912668] yaw=-54.4deg [env.py: 1019] +05/18 14:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.8ms, total=246.8ms [env.py: 1075] +05/18 14:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.905, -0.834, -0.159) [env.py: 1079] +05/18 14:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -87.3 deg [env.py: 1082] +05/18 14:22:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/18 14:22:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:22:30 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:22:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.848s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:22:38 INFO: [Worker 0] Feasible grasp found 385 (originally 78): w/ 0.628[m] 98.333[deg] [grasp_sample.py: 596] +05/18 14:22:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:22:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:22:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:22:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:23:46 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:23:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:24:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:24:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:24:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:24:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:24:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:24:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:24:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:24:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:24:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:24:53 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:24:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:24:53 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 14:24:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:24:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.227s, found 181 non-colliding grasps [grasp_sample.py: 520] +05/18 14:24:54 INFO: [Worker 0] Feasibility-checked 181 grasps in 0.844s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:24:54 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.034[m] 2.160[deg] [grasp_sample.py: 596] +05/18 14:24:56 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:24:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:24:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:24:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:24:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:24:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:24:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:24:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132809m [env.py: 870] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:24:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -78.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 72.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.6087839 -0.70124102 -0.13280942] yaw=-45.0deg [env.py: 1019] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35729278 -0.94829828 -0.13280942] yaw=-41.0deg [env.py: 1019] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:24:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=258.6ms, total=258.6ms [env.py: 1075] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.609, -0.701, -0.133) [env.py: 1079] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.0 deg [env.py: 1082] +05/18 14:24:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.085m [env.py: 1086] +05/18 14:24:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:24:59 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 14:24:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:24:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:24:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:24:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:25:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.502s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:25:04 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:25:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:25:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:25:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:25:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:25:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:25:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:25:06 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 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190378m [env.py: 870] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:25:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -45.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.22435133 -1.24463367 -0.19037756] yaw=-58.6deg [env.py: 1019] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -135.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23026002 -0.97187484 -0.19037756] yaw=-58.2deg [env.py: 1019] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.62464807 -0.82425247 -0.19037756] yaw=-74.4deg [env.py: 1019] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:25:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=222.1ms, total=222.1ms [env.py: 1075] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.224, -1.245, -0.190) [env.py: 1079] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.6 deg [env.py: 1082] +05/18 14:25:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/18 14:25:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:25:07 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 14:25:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 14:25:07 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 14:25:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:25:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:25:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.553s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:25:15 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.570[m] 115.534[deg] [grasp_sample.py: 596] +05/18 14:25:16 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:25:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:25:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:25:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:25:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:25:18 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 14:25:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:25:18 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 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115188m [env.py: 870] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:25:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -76.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64735122 -0.8496871 -0.11518831] yaw=-43.7deg [env.py: 1019] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.46310839 -1.06516574 -0.11518831] yaw=-58.1deg [env.py: 1019] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.79662408 -0.73235252 -0.11518831] yaw=-81.4deg [env.py: 1019] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:25:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.4ms, total=233.4ms [env.py: 1075] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.647, -0.850, -0.115) [env.py: 1079] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/18 14:25:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.932m [env.py: 1086] +05/18 14:25:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:25:19 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 14:25:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 14:25:19 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 14:25:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:25:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:25:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.883s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:25:24 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.665[m] 93.487[deg] [grasp_sample.py: 596] +05/18 14:25:25 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:25:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:25:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:25:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:25:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:25:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:25:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143564m [env.py: 870] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:25:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -164.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 32.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07763791 -1.14351863 -0.14356434] yaw=-25.7deg [env.py: 1019] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:25:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=247.4ms, total=247.5ms [env.py: 1075] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.078, -1.144, -0.144) [env.py: 1079] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.7 deg [env.py: 1082] +05/18 14:25:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/18 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:25:28 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 14:25:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 14:25:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:25:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:25:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:25:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.002s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:25:33 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:25:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:25:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:25:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:25:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:25:35 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 14:25:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:25:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167411m [env.py: 870] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:25:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 162.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -133.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.33129401 -1.20610949 -0.1674107 ] yaw=-27.2deg [env.py: 1019] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.56933365 -0.71423731 -0.1674107 ] yaw=-64.1deg [env.py: 1019] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:25:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=253.3ms, total=253.4ms [env.py: 1075] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -1.206, -0.167) [env.py: 1079] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.2 deg [env.py: 1082] +05/18 14:25:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.811m [env.py: 1086] +05/18 14:25:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:25:35 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/18 14:25:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/18 14:25:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:25:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:25:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:25:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.663s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:25:47 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.603[m] 94.976[deg] [grasp_sample.py: 596] +05/18 14:25:49 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:25:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:25:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:25:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:25:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:25:51 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 14:25:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:25:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121490m [env.py: 870] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:25:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.03264455 -1.31123844 -0.12149023] yaw=-39.9deg [env.py: 1019] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:25:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=239.2ms, total=239.3ms [env.py: 1075] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.033, -1.311, -0.121) [env.py: 1079] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.9 deg [env.py: 1082] +05/18 14:25:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.009m [env.py: 1086] +05/18 14:25:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:25:51 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/18 14:25:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/18 14:25:52 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 14:25:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:25:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:25:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.967s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:25:57 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:25:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:25:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:25:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:25:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:25:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:25:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:25:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150021m [env.py: 870] +05/18 14:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:25:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -70.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25517044 -1.18637813 -0.15002147] yaw=-25.7deg [env.py: 1019] +05/18 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -165.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.13980826 -1.1231833 -0.15002147] yaw=-58.4deg [env.py: 1019] +05/18 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.5060626 -0.86375069 -0.15002147] yaw=-53.3deg [env.py: 1019] +05/18 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:25:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=237.6ms, total=237.6ms [env.py: 1075] +05/18 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.255, -1.186, -0.150) [env.py: 1079] +05/18 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.7 deg [env.py: 1082] +05/18 14:25:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/18 14:25:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:25:59 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 14:25:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:25:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:25:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:25:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:26:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.170s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:26:04 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.633[m] 82.081[deg] [grasp_sample.py: 596] +05/18 14:26:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:26:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:26:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:26:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:27:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:27:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:27:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:28:14 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:28:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:28:14 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 14:28:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:28:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.244s, found 101 non-colliding grasps [grasp_sample.py: 520] +05/18 14:28:15 INFO: [Worker 0] Feasibility-checked 101 grasps in 0.960s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:28:15 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.022[m] 1.424[deg] [grasp_sample.py: 596] +05/18 14:28:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:28:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:28:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:28:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:28:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:28:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:28:44 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:29:06 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 14:29:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:29:06 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:29:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:29:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 14:29:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 13.92s (batch: 3.81s, save: 10.11s) [pipeline.py: 300] +05/18 14:29:20 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=6.25s: + episode_total: mean=39.12s, total=469.48s, count=12, min=263.5ms, max=202015.1ms + sensor_polling: mean=487.4ms, total=252.47s, count=518, min=451.3ms, max=607.6ms + physics_step: mean=31.7ms, total=16.41s, count=518, min=23.8ms, max=59.7ms + save_trajectories: mean=10.11s, total=10.11s, count=1, min=10114.2ms, max=10114.2ms + task_specific_sample: mean=539.0ms, total=6.47s, count=12, min=258.4ms, max=607.8ms + task_sampling: mean=568.2ms, total=6.25s, count=11, min=524.0ms, max=612.2ms + save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3806.7ms, max=3806.7ms + task_sampling_failed: mean=263.5ms, total=263.5ms, count=1, min=263.5ms, max=263.5ms + scene_randomize: mean=1.8ms, total=21.7ms, count=12, min=1.5ms, max=2.8ms + mj_forward_sync: mean=590.6us, total=7.1ms, count=12, min=0.5ms, max=0.7ms + policy_setup: mean=19.7us, total=0.2ms, count=11, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=12, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:29:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:29:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134330m [env.py: 870] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 90.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=239.4ms, total=239.4ms [env.py: 1105] +05/18 14:29:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:29:22 ERROR: [Worker 0] Worker 0 house 1 episode 43 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:29:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:24 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 14:29:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195506m [env.py: 870] +05/18 14:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=237.2ms, total=237.2ms [env.py: 1105] +05/18 14:29:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:29:25 ERROR: [Worker 0] Worker 0 house 1 episode 44 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:29:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:29:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.192947m [env.py: 870] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 26.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16460507 -1.27550978 -0.19294723] yaw=-50.2deg [env.py: 1019] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.86943363 -0.64437122 -0.19294723] yaw=-109.6deg [env.py: 1019] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=259.0ms, total=259.1ms [env.py: 1075] +05/18 14:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.165, -1.276, -0.193) [env.py: 1079] +05/18 14:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.2 deg [env.py: 1082] +05/18 14:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.908m [env.py: 1086] +05/18 14:29:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:27 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:29:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.294s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:29:29 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.598[m] 86.251[deg] [grasp_sample.py: 596] +05/18 14:29:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:29:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:29:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:29:31 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 14:30:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:30:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:30:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:31:44 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:31:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:31:44 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 14:31:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:31:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.247s, found 95 non-colliding grasps [grasp_sample.py: 520] +05/18 14:31:49 INFO: [Worker 0] Feasibility-checked 95 grasps in 4.933s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:31:49 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.037[m] 3.859[deg] [grasp_sample.py: 596] +05/18 14:31:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:31:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:31:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:31:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:32:05 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:32:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:32:14 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:32:35 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 14:32:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:32:35 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:32:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:32:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 14:32:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 14.44s (batch: 3.73s, save: 10.72s) [pipeline.py: 300] +05/18 14:32:51 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.60s: + episode_total: mean=68.25s, total=204.75s, count=3, min=249.9ms, max=204250.5ms + sensor_polling: mean=486.2ms, total=145.87s, count=300, min=455.1ms, max=624.3ms + save_trajectories: mean=10.72s, total=10.72s, count=1, min=10715.2ms, max=10715.2ms + physics_step: mean=32.5ms, total=9.76s, count=300, min=23.4ms, max=60.7ms + save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3729.2ms, max=3729.2ms + task_specific_sample: mean=361.1ms, total=1.08s, count=3, min=244.0ms, max=592.9ms + task_sampling: mean=596.0ms, total=596.0ms, count=1, min=596.0ms, max=596.0ms + task_sampling_failed: mean=250.8ms, total=501.7ms, count=2, min=249.9ms, max=251.8ms + scene_randomize: mean=2.1ms, total=6.3ms, count=3, min=1.7ms, max=2.5ms + mj_forward_sync: mean=556.8us, total=1.7ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:32:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:32:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:32:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:32:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:32:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:32:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:32:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:32:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:32:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:32:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105921m [env.py: 870] +05/18 14:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:32:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 165.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 12.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33084965 -0.82401133 -0.10592146] yaw=-36.0deg [env.py: 1019] +05/18 14:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:32:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=255.7ms, total=255.7ms [env.py: 1075] +05/18 14:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.331, -0.824, -0.106) [env.py: 1079] +05/18 14:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -36.0 deg [env.py: 1082] +05/18 14:32:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/18 14:32:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:32:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:32:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:32:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:32:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:32:53 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/18 14:32:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.152s [base_object_manipulation_planner_policy.py: 377] +05/18 14:32:53 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 14:32:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:32:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:32:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.025s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:32:58 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:33:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:00 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 14:33:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:00 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 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110944m [env.py: 870] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.13796528 -0.98906102 -0.11094447] yaw=-40.5deg [env.py: 1019] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.56833511 -0.93685421 -0.11094447] yaw=-84.7deg [env.py: 1019] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.48258468 -1.02562815 -0.11094447] yaw=-53.0deg [env.py: 1019] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=224.3ms, total=224.3ms [env.py: 1075] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.138, -0.989, -0.111) [env.py: 1079] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.5 deg [env.py: 1082] +05/18 14:33:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.100m [env.py: 1086] +05/18 14:33:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:01 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:01 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 14:33:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.979s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:33:06 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:33:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:08 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 14:33:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:08 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 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174511m [env.py: 870] +05/18 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -108.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 55.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 85.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53922663 -1.02190449 -0.17451144] yaw=-52.0deg [env.py: 1019] +05/18 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=258.1ms, total=258.1ms [env.py: 1075] +05/18 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.539, -1.022, -0.175) [env.py: 1079] +05/18 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.0 deg [env.py: 1082] +05/18 14:33:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086] +05/18 14:33:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:08 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:08 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 14:33:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.519s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:33:11 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.507[m] 101.131[deg] [grasp_sample.py: 596] +05/18 14:33:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:33:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:33:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:33:12 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:34:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:34:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:34:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:35:20 INFO: [Worker 0] Worker 0 house 1 episode 48 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:35:37 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 14:35:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:35:37 INFO: [Worker 0] Preparing episode data: 237 timesteps [save_utils.py: 278] +05/18 14:35:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:35:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 14:35:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 11.38s (batch: 3.49s, save: 7.89s) [pipeline.py: 300] +05/18 14:35:49 INFO: [Worker 0] [PROFILE] Episode 48 house 1 success=True episode_total=1.71s: + episode_total: mean=57.83s, total=173.49s, count=3, min=5778.6ms, max=161798.3ms + sensor_polling: mean=490.9ms, total=115.85s, count=236, min=461.5ms, max=585.9ms + save_trajectories: mean=7.89s, total=7.89s, count=1, min=7889.8ms, max=7889.8ms + physics_step: mean=31.2ms, total=7.37s, count=236, min=24.7ms, max=36.4ms + save_batch_prep: mean=3.49s, total=3.49s, count=1, min=3485.1ms, max=3485.1ms + task_sampling: mean=570.3ms, total=1.71s, count=3, min=538.4ms, max=596.4ms + task_specific_sample: mean=566.6ms, total=1.70s, count=3, min=534.8ms, max=591.7ms + scene_randomize: mean=2.0ms, total=6.1ms, count=3, min=1.4ms, max=3.1ms + mj_forward_sync: mean=618.5us, total=1.9ms, count=3, min=0.5ms, max=0.7ms + policy_setup: mean=19.6us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:35:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:35:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:35:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:35:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:35:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:35:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:35:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:35:51 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 14:35:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:35:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167759m [env.py: 870] +05/18 14:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:35:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -91.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 160.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -104.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.9ms, total=223.0ms [env.py: 1105] +05/18 14:35:51 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:35:51 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:35:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:35:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:35:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:35:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:35:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:35:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:35:53 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 14:35:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:35:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.162633m [env.py: 870] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:35:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=220.3ms, total=220.3ms [env.py: 1105] +05/18 14:35:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:35:53 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:35:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:35:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:35:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:35:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:35:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:35:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:35:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:35:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:35:55 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 14:35:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:35:55 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 14:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123705m [env.py: 870] +05/18 14:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:35:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 81.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -37.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=230.3ms, total=230.3ms [env.py: 1105] +05/18 14:35:55 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:35:55 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:35:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:35:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:35:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:35:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:35:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:35:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:35:57 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 14:35:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:35:57 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 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153533m [env.py: 870] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:35:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 1.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.44744421 -0.92522674 -0.15353277] yaw=-33.1deg [env.py: 1019] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -91.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -146.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:35:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=237.5ms, total=237.5ms [env.py: 1075] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.447, -0.925, -0.154) [env.py: 1079] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.1 deg [env.py: 1082] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.950m [env.py: 1086] +05/18 14:35:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:35:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:35:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:35:58 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 14:35:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s [base_object_manipulation_planner_policy.py: 377] +05/18 14:35:58 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 14:35:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:35:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.134s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:36:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.673s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:36:08 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.787[m] 82.852[deg] [grasp_sample.py: 596] +05/18 14:36:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:36:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:36:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:36:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:37:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:37:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:37:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:37:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:37:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.794s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:37:58 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.147[m] 8.746[deg] [grasp_sample.py: 596] +05/18 14:37:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:37:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:37:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:38:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:38:18 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 14:38:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:38:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:38:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.202s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:38:30 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.190[m] 4.212[deg] [grasp_sample.py: 596] +05/18 14:38:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:38:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:38:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:38:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:38:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:39:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:39:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:40:00 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:40:23 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 14:40:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:40:23 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:40:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:40:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 14:40:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 14.39s (batch: 3.92s, save: 10.47s) [pipeline.py: 300] +05/18 14:40:37 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=0.57s: + episode_total: mean=70.31s, total=281.24s, count=4, min=231.4ms, max=280535.0ms + sensor_polling: mean=479.1ms, total=143.73s, count=300, min=445.5ms, max=587.2ms + save_trajectories: mean=10.47s, total=10.47s, count=1, min=10471.6ms, max=10471.6ms + physics_step: mean=31.4ms, total=9.42s, count=300, min=23.8ms, max=44.2ms + save_batch_prep: mean=3.92s, total=3.92s, count=1, min=3917.2ms, max=3917.2ms + task_specific_sample: mean=313.9ms, total=1.26s, count=4, min=226.6ms, max=562.3ms + task_sampling_failed: mean=236.1ms, total=708.4ms, count=3, min=231.3ms, max=241.6ms + task_sampling: mean=565.3ms, total=565.3ms, count=1, min=565.3ms, max=565.3ms + scene_randomize: mean=1.8ms, total=7.4ms, count=4, min=1.5ms, max=2.8ms + mj_forward_sync: mean=562.6us, total=2.3ms, count=4, min=0.5ms, max=0.6ms + policy_setup: mean=19.9us, total=0.0ms, count=1, 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 14:40:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:40:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:40:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:40:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:40:39 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 14:40:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:40:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128187m [env.py: 870] +05/18 14:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:40:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.33475572 -0.8795367 -0.12818682] yaw=-52.1deg [env.py: 1019] +05/18 14:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.77500275 -0.73287101 -0.12818682] yaw=-83.1deg [env.py: 1019] +05/18 14:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 72.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 162.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:40:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=266.7ms, total=266.8ms [env.py: 1075] +05/18 14:40:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -0.880, -0.128) [env.py: 1079] +05/18 14:40:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.1 deg [env.py: 1082] +05/18 14:40:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/18 14:40:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:40:40 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/18 14:40:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s [base_object_manipulation_planner_policy.py: 377] +05/18 14:40:40 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 14:40:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:40:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.159s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:40:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.094s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:40:45 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:40:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:40:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:40:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:40:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:40:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:40:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:40:47 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 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120075m [env.py: 870] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:40:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.39996479 -0.94883592 -0.12007544] yaw=-48.1deg [env.py: 1019] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -40.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.40032305 -0.80330682 -0.12007544] yaw=-49.7deg [env.py: 1019] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.90349649 -0.72858082 -0.12007544] yaw=-98.1deg [env.py: 1019] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:40:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=266.9ms, total=266.9ms [env.py: 1075] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.400, -0.949, -0.120) [env.py: 1079] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/18 14:40:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/18 14:40:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:40:48 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/18 14:40:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 14:40:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:40:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:40:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.162s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:40:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.722s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:40:51 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.738[m] 103.993[deg] [grasp_sample.py: 596] +05/18 14:40:53 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:40:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:40:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:40:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:40:54 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 14:40:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:40:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175537m [env.py: 870] +05/18 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:40:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24770866 -0.90199958 -0.17553693] yaw=-53.1deg [env.py: 1019] +05/18 14:40:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.34831298 -0.86966654 -0.17553693] yaw=-77.4deg [env.py: 1019] +05/18 14:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:40:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=266.0ms, total=266.1ms [env.py: 1075] +05/18 14:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.248, -0.902, -0.176) [env.py: 1079] +05/18 14:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.1 deg [env.py: 1082] +05/18 14:40:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/18 14:40:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:40:55 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/18 14:40:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:40:55 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 14:40:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:40:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:41:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.437s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:41:01 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:41:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:41:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:41:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:41:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:41:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:41:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:41:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135330m [env.py: 870] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:41:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37293777 -1.07056408 -0.13533023] yaw=-50.2deg [env.py: 1019] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -175.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -28.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22294055 -0.98499909 -0.13533023] yaw=-64.2deg [env.py: 1019] +05/18 14:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:41:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=253.2ms, total=253.3ms [env.py: 1075] +05/18 14:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.373, -1.071, -0.135) [env.py: 1079] +05/18 14:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.2 deg [env.py: 1082] +05/18 14:41:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/18 14:41:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:41:03 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/18 14:41:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 14:41:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:41:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:41:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:41:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.597s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:41:09 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.761[m] 109.040[deg] [grasp_sample.py: 596] +05/18 14:41:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:41:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:41:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:41:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:42:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:42:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:42:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:43:48 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:44:10 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 14:44:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:44:10 INFO: [Worker 0] Preparing episode data: 297 timesteps [save_utils.py: 278] +05/18 14:44:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:44:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 14:44:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 14.39s (batch: 3.81s, save: 10.58s) [pipeline.py: 300] +05/18 14:44:25 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=2.35s: + episode_total: mean=55.08s, total=220.31s, count=4, min=5392.2ms, max=202633.4ms + sensor_polling: mean=473.0ms, total=140.00s, count=296, min=428.7ms, max=577.4ms + save_trajectories: mean=10.58s, total=10.58s, count=1, min=10578.1ms, max=10578.1ms + physics_step: mean=30.8ms, total=9.10s, count=296, min=23.9ms, max=35.9ms + save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3808.9ms, max=3808.9ms + task_sampling: mean=588.3ms, total=2.35s, count=4, min=576.8ms, max=601.2ms + task_specific_sample: mean=584.4ms, total=2.34s, count=4, min=573.5ms, max=596.9ms + scene_randomize: mean=2.0ms, total=8.0ms, count=4, min=1.5ms, max=2.7ms + mj_forward_sync: mean=694.3us, total=2.8ms, count=4, min=0.5ms, max=1.0ms + policy_setup: mean=20.5us, 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 14:44:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:44:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:44:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:44:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:44:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:44:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:44:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:44:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:44:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136799m [env.py: 870] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:44:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.43827821 -0.96218261 -0.13679883] yaw=-49.2deg [env.py: 1019] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.7060478 -0.72128155 -0.13679883] yaw=-85.8deg [env.py: 1019] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:44:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=261.2ms, total=261.2ms [env.py: 1075] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.438, -0.962, -0.137) [env.py: 1079] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg [env.py: 1082] +05/18 14:44:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.924m [env.py: 1086] +05/18 14:44:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:44:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:44:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:44:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:44:27 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/18 14:44:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.151s [base_object_manipulation_planner_policy.py: 377] +05/18 14:44:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:44:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:44:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:44:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.021s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:44:37 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.591[m] 84.410[deg] [grasp_sample.py: 596] +05/18 14:44:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:44:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:44:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:44:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:45:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:45:45 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:45:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:46:47 INFO: [Worker 0] Worker 0 house 1 episode 57 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:47:06 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 14:47:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:47:06 INFO: [Worker 0] Preparing episode data: 252 timesteps [save_utils.py: 278] +05/18 14:47:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:47:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 14:47:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 12.35s (batch: 3.65s, save: 8.70s) [pipeline.py: 300] +05/18 14:47:19 INFO: [Worker 0] [PROFILE] Episode 57 house 1 success=True episode_total=0.59s: + episode_total: mean=171.84s, total=171.84s, count=1, min=171842.5ms, max=171842.5ms + sensor_polling: mean=473.8ms, total=118.92s, count=251, min=449.7ms, max=556.3ms + save_trajectories: mean=8.70s, total=8.70s, count=1, min=8695.9ms, max=8695.9ms + physics_step: mean=30.7ms, total=7.70s, count=251, min=23.4ms, max=44.7ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3649.6ms, max=3649.6ms + task_sampling: mean=588.9ms, total=588.9ms, count=1, min=588.9ms, max=588.9ms + task_specific_sample: mean=585.0ms, total=585.0ms, count=1, min=585.0ms, max=585.0ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=604.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=20.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:47:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:47:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:47:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:47:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:47:20 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 14:47:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:47:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142737m [env.py: 870] +05/18 14:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:47:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -11.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -72.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38771992 -1.08236706 -0.14273749] yaw=-34.2deg [env.py: 1019] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:47:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=261.6ms, total=261.7ms [env.py: 1075] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.388, -1.082, -0.143) [env.py: 1079] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.2 deg [env.py: 1082] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/18 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:47:21 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/18 14:47:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s [base_object_manipulation_planner_policy.py: 377] +05/18 14:47:21 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 14:47:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:47:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:47:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.246s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:47:26 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.693[m] 64.147[deg] [grasp_sample.py: 596] +05/18 14:47:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:47:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:47:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:47:28 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 14:48:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:48:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:48:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:49:49 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:50:09 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 14:50:09 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:50:09 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/18 14:50:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:50:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 14:50:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 13.10s (batch: 3.70s, save: 9.40s) [pipeline.py: 300] +05/18 14:50:23 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=0.60s: + episode_total: mean=182.56s, total=182.56s, count=1, min=182564.9ms, max=182564.9ms + sensor_polling: mean=477.1ms, total=128.82s, count=270, min=441.6ms, max=604.9ms + save_trajectories: mean=9.40s, total=9.40s, count=1, min=9400.3ms, max=9400.3ms + physics_step: mean=31.5ms, total=8.51s, count=270, min=25.0ms, max=46.3ms + save_batch_prep: mean=3.70s, total=3.70s, count=1, min=3700.3ms, max=3700.3ms + task_sampling: mean=601.8ms, total=601.8ms, count=1, min=601.8ms, max=601.8ms + task_specific_sample: mean=597.3ms, total=597.3ms, count=1, min=597.3ms, max=597.3ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=602.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 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=-0.121m, effective arm-mount z=0.739m (base_body_z=-0.121m, 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: -0.121352m [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 178.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -83.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -54.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 75.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=233.2ms, total=233.3ms [env.py: 1105] +05/18 14:50:25 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:50:25 ERROR: [Worker 0] Worker 0 house 1 episode 59 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:50:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:50:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:50:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:50:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:50:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:50:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:50:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:50:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:50:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116036m [env.py: 870] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:50:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -173.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.13202244 -1.23465941 -0.11603595] yaw=-3.9deg [env.py: 1019] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.79425604 -0.82921662 -0.11603595] yaw=-108.5deg [env.py: 1019] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -60.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.79335363 -0.81274287 -0.11603595] yaw=-60.5deg [env.py: 1019] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:50:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.2ms, total=204.2ms [env.py: 1075] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.132, -1.235, -0.116) [env.py: 1079] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -3.9 deg [env.py: 1082] +05/18 14:50:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.957m [env.py: 1086] +05/18 14:50:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:50:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:50:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:50:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:50:27 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/18 14:50:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/18 14:50:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:50:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:50:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:50:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.719s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:50:33 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.646[m] 89.706[deg] [grasp_sample.py: 596] +05/18 14:50:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:50:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:50:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:50:35 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 14:51:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:51:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:51:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:52:39 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:52:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:52:39 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 14:52:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:52:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.177s, found 337 non-colliding grasps [grasp_sample.py: 520] +05/18 14:52:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.975s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:52:45 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.047[m] 1.386[deg] [grasp_sample.py: 596] +05/18 14:52:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:52:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:52:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:52:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:53:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:53:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:53:14 INFO: [Worker 0] Worker 0 house 1 episode 60 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:53:36 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 14:53:36 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:53:36 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:53:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:53:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 14:53:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 13.74s (batch: 3.73s, save: 10.01s) [pipeline.py: 300] +05/18 14:53:51 INFO: [Worker 0] [PROFILE] Episode 60 house 1 success=True episode_total=0.53s: + episode_total: mean=102.14s, total=204.27s, count=2, min=249.2ms, max=204022.8ms + sensor_polling: mean=475.7ms, total=142.71s, count=300, min=444.1ms, max=598.8ms + save_trajectories: mean=10.01s, total=10.01s, count=1, min=10010.8ms, max=10010.8ms + physics_step: mean=31.3ms, total=9.40s, count=300, min=24.0ms, max=45.8ms + save_batch_prep: mean=3.73s, total=3.73s, count=1, min=3729.1ms, max=3729.1ms + task_specific_sample: mean=382.8ms, total=765.5ms, count=2, min=240.7ms, max=524.8ms + task_sampling: mean=528.3ms, total=528.3ms, count=1, min=528.3ms, max=528.3ms + task_sampling_failed: mean=249.1ms, total=249.1ms, count=1, min=249.1ms, max=249.1ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.6ms, max=3.0ms + mj_forward_sync: mean=610.3us, total=1.2ms, count=2, min=0.5ms, max=0.7ms + policy_setup: mean=22.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:53:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:53:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:53:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:53:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:53:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:53:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:53:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106056m [env.py: 870] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:53:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 160.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.25560792 -1.2899444 -0.1060564 ] yaw=-29.2deg [env.py: 1019] +05/18 14:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:53:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=250.0ms, total=250.0ms [env.py: 1075] +05/18 14:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.256, -1.290, -0.106) [env.py: 1079] +05/18 14:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.2 deg [env.py: 1082] +05/18 14:53:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.823m [env.py: 1086] +05/18 14:53:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:53:53 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/18 14:53:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.134s [base_object_manipulation_planner_policy.py: 377] +05/18 14:53:53 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 14:53:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:53:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:53:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.467s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:53:59 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.834[m] 61.655[deg] [grasp_sample.py: 596] +05/18 14:53:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:53:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:53:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:54:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:55:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:55:30 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:55:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:56:28 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:56:49 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 14:56:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:56:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:57:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:57:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 14:57:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 14.09s (batch: 3.76s, save: 10.33s) [pipeline.py: 300] +05/18 14:57:04 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=0.58s: + episode_total: mean=191.29s, total=191.29s, count=1, min=191290.2ms, max=191290.2ms + sensor_polling: mean=455.0ms, total=136.50s, count=300, min=427.9ms, max=549.6ms + save_trajectories: mean=10.33s, total=10.33s, count=1, min=10334.5ms, max=10334.5ms + physics_step: mean=30.2ms, total=9.06s, count=300, min=23.6ms, max=41.7ms + save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3758.1ms, max=3758.1ms + task_sampling: mean=584.5ms, total=584.5ms, count=1, min=584.5ms, max=584.5ms + task_specific_sample: mean=579.9ms, total=579.9ms, count=1, min=579.9ms, max=579.9ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=621.7us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=20.1us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:57:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:57:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:57:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:57:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:57:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:57:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:57:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:57:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:57:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:57:05 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 14:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197691m [env.py: 870] +05/18 14:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:57:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.14366658 -1.07213383 -0.19769131] yaw=-39.4deg [env.py: 1019] +05/18 14:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:57:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 44.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.69658175 -0.74586518 -0.19769131] yaw=-88.1deg [env.py: 1019] +05/18 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:57:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=239.9ms, total=240.0ms [env.py: 1075] +05/18 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.144, -1.072, -0.198) [env.py: 1079] +05/18 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.4 deg [env.py: 1082] +05/18 14:57:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/18 14:57:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:57:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:57:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:57:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:57:06 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/18 14:57:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s [base_object_manipulation_planner_policy.py: 377] +05/18 14:57:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:57:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:57:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:57:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.903s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:57:11 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:57:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:57:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:57:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:57:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:57:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:57:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:57:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:57:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:57:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:57:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:57:13 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 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164739m [env.py: 870] +05/18 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:57:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -92.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -127.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.73160206 -0.90282306 -0.16473878] yaw=-55.9deg [env.py: 1019] +05/18 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:57:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.0ms, total=233.1ms [env.py: 1075] +05/18 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.732, -0.903, -0.165) [env.py: 1079] +05/18 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.9 deg [env.py: 1082] +05/18 14:57:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/18 14:57:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:57:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:57:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:57:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:57:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:57:13 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/18 14:57:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/18 14:57:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:57:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:57:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:57:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.522s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:57:16 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.725[m] 61.198[deg] [grasp_sample.py: 596] +05/18 14:57:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:57:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:57:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:57:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:58:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:58:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:58:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:59:47 INFO: [Worker 0] Worker 0 house 1 episode 63 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 15:00:07 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 15:00:07 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:00:07 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/18 15:00:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:00:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 15:00:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 12.73s (batch: 3.60s, save: 9.13s) [pipeline.py: 300] +05/18 15:00:20 INFO: [Worker 0] [PROFILE] Episode 63 house 1 success=True episode_total=1.11s: + episode_total: mean=96.52s, total=193.05s, count=2, min=5777.3ms, max=187272.5ms + sensor_polling: mean=456.7ms, total=126.52s, count=277, min=435.8ms, max=559.5ms + save_trajectories: mean=9.13s, total=9.13s, count=1, min=9133.7ms, max=9133.7ms + physics_step: mean=29.1ms, total=8.05s, count=277, min=21.0ms, max=34.0ms + save_batch_prep: mean=3.60s, total=3.60s, count=1, min=3599.2ms, max=3599.2ms + task_sampling: mean=553.0ms, total=1.11s, count=2, min=537.1ms, max=568.9ms + task_specific_sample: mean=549.1ms, total=1.10s, count=2, min=533.6ms, max=564.7ms + scene_randomize: mean=2.1ms, total=4.2ms, count=2, min=1.5ms, max=2.7ms + mj_forward_sync: mean=564.6us, total=1.1ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=19.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:00:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:00:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:00:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:00:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:00:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:00:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:00:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:00:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:00:22 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 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168358m [env.py: 870] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:00:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -30.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -59.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -100.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2351262 -1.16407087 -0.1683585 ] yaw=-64.6deg [env.py: 1019] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.05041567 -1.32155274 -0.1683585 ] yaw=0.5deg [env.py: 1019] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:00:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=238.6ms, total=238.6ms [env.py: 1075] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.235, -1.164, -0.168) [env.py: 1079] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.6 deg [env.py: 1082] +05/18 15:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/18 15:00:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:00:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:00:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:00:22 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/18 15:00:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.146s [base_object_manipulation_planner_policy.py: 377] +05/18 15:00:23 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 15:00:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:00:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:00:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.516s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:00:28 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.771[m] 78.925[deg] [grasp_sample.py: 596] +05/18 15:00:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:00:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:00:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:00:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:00:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:00:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:00:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:00:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:00:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:00:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:01:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:01:03 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 15:01:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:01:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:01:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.967s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:01:10 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.598[m] 59.776[deg] [grasp_sample.py: 596] +05/18 15:01:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:01:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:01:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:01:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:01:27 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:01:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:01:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:01:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:01:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.205s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:01:34 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.594[m] 59.285[deg] [grasp_sample.py: 596] +05/18 15:01:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:01:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:01:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:01:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:01:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:01:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:01:50 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 15:01:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:01:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:01:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.680s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:01:57 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.594[m] 59.285[deg] [grasp_sample.py: 596] +05/18 15:01:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:01:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:01:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:02:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:02:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:02:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:02:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:02:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:02:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:02:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:02:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:02:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:02:13 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 15:02:14 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 15:02:14 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=False episode_total=0.56s: + episode_total: mean=111.76s, total=111.76s, count=1, min=111764.6ms, max=111764.6ms + sensor_polling: mean=452.3ms, total=33.47s, count=74, min=441.9ms, max=584.5ms + physics_step: mean=26.1ms, total=1.93s, count=74, min=19.0ms, max=29.6ms + task_sampling: mean=560.8ms, total=560.8ms, count=1, min=560.8ms, max=560.8ms + task_specific_sample: mean=556.7ms, total=556.7ms, count=1, min=556.7ms, max=556.7ms + scene_randomize: mean=2.7ms, total=2.7ms, count=1, min=2.7ms, max=2.7ms + mj_forward_sync: mean=520.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=17.8us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:02:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:15 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 15:02:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:15 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 15:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140756m [env.py: 870] +05/18 15:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27553433 -0.947359 -0.14075567] yaw=-61.8deg [env.py: 1019] +05/18 15:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -102.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.01744188 -1.32148692 -0.14075567] yaw=-7.8deg [env.py: 1019] +05/18 15:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:02:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=235.0ms, total=235.1ms [env.py: 1075] +05/18 15:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.276, -0.947, -0.141) [env.py: 1079] +05/18 15:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.8 deg [env.py: 1082] +05/18 15:02:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/18 15:02:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:02:16 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/18 15:02:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/18 15:02:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:02:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:02:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:02:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.578s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:02:22 ERROR: [Worker 0] Worker 0 house 1 episode 65 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:02:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:24 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 15:02:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198983m [env.py: 870] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 50.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 36.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 2.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -29.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.39270291 -1.10777909 -0.19898255] yaw=-58.2deg [env.py: 1019] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:02:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=238.2ms, total=238.3ms [env.py: 1075] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.393, -1.108, -0.199) [env.py: 1079] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg [env.py: 1082] +05/18 15:02:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/18 15:02:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:02:24 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/18 15:02:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/18 15:02:24 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 15:02:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:02:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:02:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.090s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:02:26 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.702[m] 74.283[deg] [grasp_sample.py: 596] +05/18 15:02:28 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:02:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:02:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:30 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 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112982m [env.py: 870] +05/18 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -134.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 32.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.77959163 -0.65784771 -0.11298151] yaw=-106.9deg [env.py: 1019] +05/18 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:02:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=233.8ms, total=233.8ms [env.py: 1075] +05/18 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.780, -0.658, -0.113) [env.py: 1079] +05/18 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -106.9 deg [env.py: 1082] +05/18 15:02:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/18 15:02:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:02:30 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/18 15:02:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 15:02:30 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 15:02:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:02:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:02:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.463s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:02:36 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:02:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:02:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129569m [env.py: 870] +05/18 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.04598947 -1.32314582 -0.1295691 ] yaw=-0.9deg [env.py: 1019] +05/18 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -74.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -130.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:02:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=239.2ms, total=239.2ms [env.py: 1075] +05/18 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.046, -1.323, -0.130) [env.py: 1079] +05/18 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -0.9 deg [env.py: 1082] +05/18 15:02:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.076m [env.py: 1086] +05/18 15:02:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:02:38 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/18 15:02:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 15:02:38 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 15:02:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:02:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:02:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.568s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:02:44 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:02:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:46 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 15:02:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154618m [env.py: 870] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 14.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.11903077 -1.19345392 -0.15461846] yaw=-32.3deg [env.py: 1019] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.8356115 -0.91108958 -0.15461846] yaw=-102.4deg [env.py: 1019] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:02:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=224.3ms, total=224.3ms [env.py: 1075] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.119, -1.193, -0.155) [env.py: 1079] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.3 deg [env.py: 1082] +05/18 15:02:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/18 15:02:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:02:46 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/18 15:02:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 15:02:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:02:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:02:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:02:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.372s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:02:55 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:02:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:57 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 15:02:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:57 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 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154102m [env.py: 870] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 64.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.22689035 -0.90603338 -0.15410244] yaw=-53.0deg [env.py: 1019] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.71392777 -0.81434813 -0.15410244] yaw=-62.1deg [env.py: 1019] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:02:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=231.9ms, total=231.9ms [env.py: 1075] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.227, -0.906, -0.154) [env.py: 1079] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.0 deg [env.py: 1082] +05/18 15:02:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.097m [env.py: 1086] +05/18 15:02:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:02:57 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/18 15:02:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/18 15:02:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:02:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:02:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:03:03 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.960s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:03:03 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:03:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:03:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:03:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:03:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:03:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:03:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:03:04 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 15:03:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:03:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.131m, effective arm-mount z=0.729m (base_body_z=-0.131m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.131437m [env.py: 870] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:03:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -165.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -100.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.61648806 -0.86506667 -0.13143721] yaw=-54.9deg [env.py: 1019] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:03:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=229.7ms, total=229.7ms [env.py: 1075] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.616, -0.865, -0.131) [env.py: 1079] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.9 deg [env.py: 1082] +05/18 15:03:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/18 15:03:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:03:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:03:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:03:05 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:03:05 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/18 15:03:05 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 15:03:05 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 15:03:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:03:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:03:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.957s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:03:12 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.661[m] 92.736[deg] [grasp_sample.py: 596] +05/18 15:03:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:03:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:03:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:03:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:04:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:04:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:04:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:05:25 INFO: [Worker 0] Worker 0 house 1 episode 71 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 15:05:44 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/dresser/sim_chunks/chunk_061 [pipeline.py: 1174] +05/18 15:05:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_061 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:05:44 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/18 15:05:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:05:56 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_061 [save_utils.py: 785] +05/18 15:05:56 INFO: [Worker 0] Successfully saved trajectory data for chunk_061 in 12.12s (batch: 3.50s, save: 8.62s) [pipeline.py: 300] +05/18 15:05:57 INFO: [Worker 0] [PROFILE] Episode 71 house 1 success=True episode_total=3.76s: + episode_total: mean=30.11s, total=210.77s, count=7, min=4474.2ms, max=172426.9ms + sensor_polling: mean=448.0ms, total=120.06s, count=268, min=422.0ms, max=574.4ms + save_trajectories: mean=8.62s, total=8.62s, count=1, min=8615.9ms, max=8615.9ms + physics_step: mean=29.3ms, total=7.86s, count=268, min=21.3ms, max=43.6ms + task_sampling: mean=537.8ms, total=3.76s, count=7, min=518.1ms, max=548.9ms + task_specific_sample: mean=534.4ms, total=3.74s, count=7, min=514.5ms, max=545.1ms + save_batch_prep: mean=3.50s, total=3.50s, count=1, min=3499.4ms, max=3499.4ms + scene_randomize: mean=1.6ms, total=11.3ms, count=7, min=1.5ms, max=2.1ms + mj_forward_sync: mean=562.5us, total=3.9ms, count=7, min=0.5ms, max=0.6ms + policy_setup: mean=18.6us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:05:58 WARNING: [Worker 0] No trajectory data to save for chunk_061 [pipeline.py: 234] +05/18 15:05:58 WARNING: [Worker 0] No trajectory data to save for chunk_061 [pipeline.py: 234] +05/18 15:05:58 INFO: [Worker 0] Worker 0 completed house 1: 20/23 successful episodes [pipeline.py: 1323] +05/18 15:05:58 INFO: [Worker 0] [PROFILE] House 1 complete: 20/23 successful, 23 episodes, total_time=8361.08s + House averages: + episode_total: mean=67.87s, total=4886.44s, count=72, min=231.4ms, max=280535.0ms + sensor_polling: mean=479.3ms, total=2927.27s, count=6107, min=422.0ms, max=629.3ms + physics_step: mean=31.3ms, total=191.23s, count=6107, min=19.0ms, max=60.7ms + save_trajectories: mean=9.48s, total=189.54s, count=20, min=7889.8ms, max=10739.1ms + save_batch_prep: mean=3.74s, total=74.73s, count=20, min=3485.1ms, max=3925.8ms + task_sampling: mean=655.1ms, total=39.31s, count=60, min=481.4ms, max=6285.9ms + task_specific_sample: mean=504.3ms, total=36.31s, count=72, min=226.6ms, max=616.7ms + scene_load: mean=5.67s, total=5.67s, count=1, min=5666.1ms, max=5666.1ms + scene_env_create: mean=3.84s, total=3.84s, count=1, min=3836.3ms, max=3836.3ms + task_sampling_failed: mean=246.7ms, total=2.96s, count=12, min=231.3ms, max=265.8ms + scene_compile: mean=1.51s, total=1.51s, count=1, min=1510.1ms, max=1510.1ms + compile_mujoco: mean=1.06s, total=1.06s, count=1, min=1060.4ms, max=1060.4ms + compile_xml_load: mean=334.1ms, total=334.1ms, count=1, min=334.1ms, max=334.1ms + scene_asset_install: mean=198.3ms, total=198.3ms, count=1, min=198.3ms, max=198.3ms + scene_randomize: mean=2.0ms, total=142.7ms, count=72, min=1.4ms, max=3.1ms + asset_install_grasps: mean=127.5ms, total=127.5ms, count=1, min=127.5ms, max=127.5ms + scene_init: mean=121.2ms, total=121.2ms, count=1, min=121.2ms, max=121.2ms + compile_aux_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms + compile_aux_policy_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms + asset_install_objects: mean=66.7ms, total=66.7ms, count=1, min=66.7ms, max=66.7ms + mj_forward_sync: mean=601.6us, total=43.3ms, count=72, min=0.5ms, max=1.0ms + compile_robot_add: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + policy_setup: mean=21.4us, total=1.3ms, count=60, 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 15:05:58 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/18 15:05:58 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 23 episodes, total_time=8361.08s + Worker averages: + episode_total: mean=67.87s, total=4886.44s, count=72, min=231.4ms, max=280535.0ms + sensor_polling: mean=479.3ms, total=2927.27s, count=6107, min=422.0ms, max=629.3ms + physics_step: mean=31.3ms, total=191.23s, count=6107, min=19.0ms, max=60.7ms + save_trajectories: mean=9.48s, total=189.54s, count=20, min=7889.8ms, max=10739.1ms + save_batch_prep: mean=3.74s, total=74.73s, count=20, min=3485.1ms, max=3925.8ms + task_sampling: mean=655.1ms, total=39.31s, count=60, min=481.4ms, max=6285.9ms + task_specific_sample: mean=504.3ms, total=36.31s, count=72, min=226.6ms, max=616.7ms + scene_load: mean=5.67s, total=5.67s, count=1, min=5666.1ms, max=5666.1ms + scene_env_create: mean=3.84s, total=3.84s, count=1, min=3836.3ms, max=3836.3ms + task_sampling_failed: mean=246.7ms, total=2.96s, count=12, min=231.3ms, max=265.8ms + scene_compile: mean=1.51s, total=1.51s, count=1, min=1510.1ms, max=1510.1ms + compile_mujoco: mean=1.06s, total=1.06s, count=1, min=1060.4ms, max=1060.4ms + compile_xml_load: mean=334.1ms, total=334.1ms, count=1, min=334.1ms, max=334.1ms + scene_asset_install: mean=198.3ms, total=198.3ms, count=1, min=198.3ms, max=198.3ms + scene_randomize: mean=2.0ms, total=142.7ms, count=72, min=1.4ms, max=3.1ms + asset_install_grasps: mean=127.5ms, total=127.5ms, count=1, min=127.5ms, max=127.5ms + scene_init: mean=121.2ms, total=121.2ms, count=1, min=121.2ms, max=121.2ms + compile_aux_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms + compile_aux_policy_objects: mean=75.2ms, total=75.2ms, count=1, min=75.2ms, max=75.2ms + asset_install_objects: mean=66.7ms, total=66.7ms, count=1, min=66.7ms, max=66.7ms + mj_forward_sync: mean=601.6us, total=43.3ms, count=72, min=0.5ms, max=1.0ms + compile_robot_add: mean=28.3ms, total=28.3ms, count=1, min=28.3ms, max=28.3ms + asset_install_scene: mean=4.1ms, total=4.1ms, count=1, min=4.1ms, max=4.1ms + policy_setup: mean=21.4us, total=1.3ms, count=60, 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 15:06:01 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/18 15:06:01 INFO: Success count: 20, Total count: 23 [pipeline.py: 1491] +05/18 15:06:01 INFO: Success rate: 86.96% [pipeline.py: 1492] diff --git a/dresser/sim/chunk_061/trajectories_batch_1_of_1_cam_rand.h5 b/dresser/sim/chunk_061/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..85589c60efb06e9f0bd6f6788bc2951ce0cb1f1d --- /dev/null +++ b/dresser/sim/chunk_061/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:802617c494ce8cbf60ab02fd2f069fce8d69770241e5f7f36799d682be402c37 +size 1401599111