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{'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 14:18:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/18 14:18:07 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 14:18:07 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 14:18:08 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 14:18:15 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/FloorPlan1_physics.xml [task_sampler.py: 797] +05/18 14:18:15 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 14:18:15 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 14:18:15 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 14:18:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:18:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:18:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:18:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:18:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:18:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:18:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:18:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:18:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130497m [env.py: 870] +05/18 14:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:18:15 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 14:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -47.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36554422 -1.16321161 -0.13049684] yaw=-18.4deg [env.py: 1019] +05/18 14:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -163.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.45457718 -0.85019667 -0.13049684] yaw=-39.2deg [env.py: 1019] +05/18 14:18:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.48562506 -0.85016115 -0.13049684] yaw=-78.2deg [env.py: 1019] +05/18 14:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:18:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=38.7ms, retries=190.0ms, total=228.7ms [env.py: 1075] +05/18 14:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -1.163, -0.130) [env.py: 1079] +05/18 14:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.4 deg [env.py: 1082] +05/18 14:18:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/18 14:18:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:18:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:18:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:18:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:18:16 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 14:18:45 INFO: [Worker 0] Warmed up parallel IK solver in 29.346s [base_object_manipulation_planner_policy.py: 377] +05/18 14:18:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:18:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:18:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.137s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:19:00 INFO: [Worker 0] Feasible grasp found 303 (originally 303): w/ 0.811[m] 68.419[deg] [grasp_sample.py: 596] +05/18 14:19:02 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:19:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:19:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116725m [env.py: 870] +05/18 14:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 65.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.26237849 -1.16610851 -0.11672453] yaw=-11.4deg [env.py: 1019] +05/18 14:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=234.7ms, total=234.7ms [env.py: 1075] +05/18 14:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.262, -1.166, -0.117) [env.py: 1079] +05/18 14:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -11.4 deg [env.py: 1082] +05/18 14:19:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/18 14:19:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:03 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:03 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 14:19:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.786s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:19:11 INFO: [Worker 0] Feasible grasp found 142 (originally 142): w/ 0.748[m] 107.325[deg] [grasp_sample.py: 596] +05/18 14:19:13 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:19:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:14 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 14:19:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138158m [env.py: 870] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.30235762 -1.12015763 -0.13815797] yaw=-70.7deg [env.py: 1019] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.90641523 -0.92631375 -0.13815797] yaw=-105.6deg [env.py: 1019] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -77.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.7564132 -0.70940376 -0.13815797] yaw=-55.4deg [env.py: 1019] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.9ms, total=207.0ms [env.py: 1075] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -1.120, -0.138) [env.py: 1079] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.7 deg [env.py: 1082] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.890m [env.py: 1086] +05/18 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:14 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:14 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 14:19:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.180s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:19:20 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.841[m] 90.393[deg] [grasp_sample.py: 596] +05/18 14:19:21 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:19:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:23 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:19:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170685m [env.py: 870] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.39320426 -0.83952304 -0.17068533] yaw=-53.8deg [env.py: 1019] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -106.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.66595776 -0.92769268 -0.17068533] yaw=-89.4deg [env.py: 1019] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.21966847 -1.38038258 -0.17068533] yaw=-46.6deg [env.py: 1019] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=208.9ms, total=209.0ms [env.py: 1075] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.393, -0.840, -0.171) [env.py: 1079] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.8 deg [env.py: 1082] +05/18 14:19:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.051m [env.py: 1086] +05/18 14:19:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:23 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:19:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.214s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:19:32 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:19:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:19:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199329m [env.py: 870] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.77275616 -0.89580389 -0.19932872] yaw=-98.3deg [env.py: 1019] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.57872598 -0.73027527 -0.19932872] yaw=-53.6deg [env.py: 1019] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.11082159 -1.04143539 -0.19932872] yaw=-46.8deg [env.py: 1019] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.6ms, total=233.6ms [env.py: 1075] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.773, -0.896, -0.199) [env.py: 1079] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.3 deg [env.py: 1082] +05/18 14:19:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.854m [env.py: 1086] +05/18 14:19:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:34 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:19:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.051s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:19:36 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.775[m] 70.282[deg] [grasp_sample.py: 596] +05/18 14:19:38 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:19:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:39 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 14:19:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169514m [env.py: 870] +05/18 14:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 35.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 170.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=270.0ms, total=270.0ms [env.py: 1105] +05/18 14:19:39 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:19:39 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:19:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:40 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 14:19:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169475m [env.py: 870] +05/18 14:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -19.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.04676207 -1.30462682 -0.16947478] yaw=-45.5deg [env.py: 1019] +05/18 14:19:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.15538958 -1.38027441 -0.16947478] yaw=-19.5deg [env.py: 1019] +05/18 14:19:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:19:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=283.1ms, total=283.1ms [env.py: 1075] +05/18 14:19:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.047, -1.305, -0.169) [env.py: 1079] +05/18 14:19:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.5 deg [env.py: 1082] +05/18 14:19:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.084m [env.py: 1086] +05/18 14:19:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:41 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:41 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 14:19:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.187s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:19:46 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:19:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:47 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 14:19:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:47 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 14:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171875m [env.py: 870] +05/18 14:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.35894819 -1.03217263 -0.17187495] yaw=-38.5deg [env.py: 1019] +05/18 14:19:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.02400918 -1.18867633 -0.17187495] yaw=-17.8deg [env.py: 1019] +05/18 14:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -165.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -172.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=277.7ms, total=277.8ms [env.py: 1075] +05/18 14:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -1.032, -0.172) [env.py: 1079] +05/18 14:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.5 deg [env.py: 1082] +05/18 14:19:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m [env.py: 1086] +05/18 14:19:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:48 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:48 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 14:19:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.621s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:19:54 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.877[m] 96.613[deg] [grasp_sample.py: 596] +05/18 14:19:55 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:19:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:57 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 14:19:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:57 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 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130929m [env.py: 870] +05/18 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 80.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 18.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47361373 -1.08299477 -0.13092853] yaw=-26.2deg [env.py: 1019] +05/18 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=275.9ms, total=275.9ms [env.py: 1075] +05/18 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.474, -1.083, -0.131) [env.py: 1079] +05/18 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.2 deg [env.py: 1082] +05/18 14:19:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/18 14:19:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:57 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:57 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 14:19:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:20:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.511s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:20:00 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.700[m] 72.623[deg] [grasp_sample.py: 596] +05/18 14:20:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:20:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:20:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:20:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:20:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:20:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:21:02 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:21:43 INFO: [Worker 0] Worker 0 house 1 episode 8 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:21:59 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 14:21:59 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:21:59 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/18 14:22:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:22:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 14:22:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 10.95s (batch: 2.56s, save: 8.39s) [pipeline.py: 300] +05/18 14:22:10 INFO: [Worker 0] [PROFILE] Episode 8 house 1 success=True episode_total=12.00s: + episode_total: mean=25.97s, total=233.74s, count=9, min=280.1ms, max=133882.3ms + sensor_polling: mean=348.6ms, total=94.83s, count=272, min=336.8ms, max=402.7ms + task_sampling: mean=1.50s, total=12.00s, count=8, min=472.7ms, max=8391.8ms + save_trajectories: mean=8.39s, total=8.39s, count=1, min=8392.9ms, max=8392.9ms + scene_load: mean=7.83s, total=7.83s, count=1, min=7832.4ms, max=7832.4ms + physics_step: mean=22.3ms, total=6.08s, count=272, min=19.0ms, max=25.9ms + scene_env_create: mean=5.25s, total=5.25s, count=1, min=5247.0ms, max=5247.0ms + task_specific_sample: mean=491.8ms, total=4.43s, count=9, min=276.1ms, max=565.2ms + save_batch_prep: mean=2.56s, total=2.56s, count=1, min=2555.8ms, max=2555.8ms + scene_compile: mean=2.32s, total=2.32s, count=1, min=2320.5ms, max=2320.5ms + compile_mujoco: mean=1.52s, total=1.52s, count=1, min=1516.4ms, max=1516.4ms + compile_xml_load: mean=698.2ms, total=698.2ms, count=1, min=698.2ms, max=698.2ms + task_sampling_failed: mean=280.1ms, total=280.1ms, count=1, min=280.1ms, max=280.1ms + scene_asset_install: mean=141.0ms, total=141.0ms, count=1, min=141.0ms, max=141.0ms + scene_init: mean=123.7ms, total=123.7ms, count=1, min=123.7ms, max=123.7ms + asset_install_objects: mean=70.1ms, total=70.1ms, count=1, min=70.1ms, max=70.1ms + asset_install_grasps: mean=64.8ms, total=64.8ms, count=1, min=64.8ms, max=64.8ms + compile_aux_objects: mean=59.0ms, total=59.0ms, count=1, min=59.0ms, max=59.0ms + compile_aux_policy_objects: mean=59.0ms, total=59.0ms, count=1, min=59.0ms, max=59.0ms + compile_robot_add: mean=37.3ms, total=37.3ms, count=1, min=37.3ms, max=37.3ms + scene_randomize: mean=1.3ms, total=11.5ms, count=9, min=1.2ms, max=1.6ms + asset_install_scene: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms + mj_forward_sync: mean=556.0us, total=5.0ms, count=9, min=0.4ms, max=0.7ms + policy_setup: mean=18.3us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:22:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:22:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:12 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 14:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145501m [env.py: 870] +05/18 14:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.60747169 -0.96979163 -0.14550128] yaw=-70.2deg [env.py: 1019] +05/18 14:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=240.0ms, total=240.0ms [env.py: 1075] +05/18 14:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.607, -0.970, -0.146) [env.py: 1079] +05/18 14:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -70.2 deg [env.py: 1082] +05/18 14:22:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/18 14:22:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:22:12 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:12 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 14:22:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.897s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:22:15 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.642[m] 94.884[deg] [grasp_sample.py: 596] +05/18 14:22:17 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:22:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:18 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 14:22:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:18 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 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149535m [env.py: 870] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.10712761 -1.42035301 -0.14953476] yaw=-16.0deg [env.py: 1019] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.19420256 -1.22619266 -0.14953476] yaw=-24.4deg [env.py: 1019] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 70.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.19436841 -1.42110537 -0.14953476] yaw=-36.3deg [env.py: 1019] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=183.5ms, total=183.6ms [env.py: 1075] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.107, -1.420, -0.150) [env.py: 1079] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -16.0 deg [env.py: 1082] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.898m [env.py: 1086] +05/18 14:22:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:22:18 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:19 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 14:22:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.143s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:22:31 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.716[m] 87.991[deg] [grasp_sample.py: 596] +05/18 14:22:32 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:22:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:22:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:33 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 14:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.158992m [env.py: 870] +05/18 14:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.06673545 -1.27185716 -0.15899194] yaw=-37.1deg [env.py: 1019] +05/18 14:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -96.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26115818 -1.22206075 -0.15899194] yaw=-39.6deg [env.py: 1019] +05/18 14:22:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[-0.00307716 -1.31777853 -0.15899194] yaw=1.1deg [env.py: 1019] +05/18 14:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=239.2ms, total=239.3ms [env.py: 1075] +05/18 14:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.067, -1.272, -0.159) [env.py: 1079] +05/18 14:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.1 deg [env.py: 1082] +05/18 14:22:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/18 14:22:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:22:34 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:22:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.092s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.946s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:22:39 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:22:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:40 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 14:22:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:40 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 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166575m [env.py: 870] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -34.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 163.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.8605673 -0.67341934 -0.16657506] yaw=-98.2deg [env.py: 1019] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=275.3ms, total=275.4ms [env.py: 1075] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.861, -0.673, -0.167) [env.py: 1079] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.2 deg [env.py: 1082] +05/18 14:22:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m [env.py: 1086] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:22:41 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:41 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 14:22:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.150s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:22:46 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:22:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:47 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 14:22:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147855m [env.py: 870] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 61.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.0661321 -1.23381299 -0.14785497] yaw=-11.8deg [env.py: 1019] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 67.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.16179613 -1.36029876 -0.14785497] yaw=-36.2deg [env.py: 1019] +05/18 14:22:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.6582667 -0.87118376 -0.14785497] yaw=-57.7deg [env.py: 1019] +05/18 14:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=280.7ms, total=280.8ms [env.py: 1075] +05/18 14:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.066, -1.234, -0.148) [env.py: 1079] +05/18 14:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -11.8 deg [env.py: 1082] +05/18 14:22:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/18 14:22:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:22:48 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:48 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 14:22:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.178s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:22:53 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:22:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:54 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 14:22:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:54 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 14:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130953m [env.py: 870] +05/18 14:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 164.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -8.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.62764916 -0.87124865 -0.13095347] yaw=-96.6deg [env.py: 1019] +05/18 14:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27261021 -1.04982773 -0.13095347] yaw=-68.3deg [env.py: 1019] +05/18 14:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=279.9ms, total=280.0ms [env.py: 1075] +05/18 14:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.628, -0.871, -0.131) [env.py: 1079] +05/18 14:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -96.6 deg [env.py: 1082] +05/18 14:22:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.918m [env.py: 1086] +05/18 14:22:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:22:55 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.101s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:55 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 14:22:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.005s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:22:58 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.794[m] 72.076[deg] [grasp_sample.py: 596] +05/18 14:22:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:22:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:22:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:23:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:23:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:23:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:23:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:23:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:23:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:23:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:23:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:23:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:23:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:23:29 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 14:23:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:23:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:23:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.568s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:23:35 INFO: [Worker 0] Feasible grasp found 565 (originally 258): w/ 0.610[m] 50.217[deg] [grasp_sample.py: 596] +05/18 14:23:37 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:23:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:23:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:23:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:23:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:23:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:23:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:23:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:23:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:23:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126858m [env.py: 870] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:23:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.71378957 -0.75750628 -0.12685763] yaw=-96.2deg [env.py: 1019] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.28185833 -1.25454897 -0.12685763] yaw=-59.0deg [env.py: 1019] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.14314946 -1.33865783 -0.12685763] yaw=-47.4deg [env.py: 1019] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:23:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=286.0ms, total=286.0ms [env.py: 1075] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.714, -0.758, -0.127) [env.py: 1079] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -96.2 deg [env.py: 1082] +05/18 14:23:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.002m [env.py: 1086] +05/18 14:23:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:23:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:23:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:23:38 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 14:23:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.099s [base_object_manipulation_planner_policy.py: 377] +05/18 14:23:38 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 14:23:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:23:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:24:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 22.590s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:24:01 INFO: [Worker 0] Feasible grasp found 487 (originally 180): w/ 0.816[m] 69.576[deg] [grasp_sample.py: 596] +05/18 14:24:02 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:24:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:24:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:24:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:24:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:24:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:24:04 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122260m [env.py: 870] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:24:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -174.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.33833755 -1.07194328 -0.12226014] yaw=-27.4deg [env.py: 1019] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:24:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=237.6ms, total=237.7ms [env.py: 1075] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.338, -1.072, -0.122) [env.py: 1079] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.4 deg [env.py: 1082] +05/18 14:24:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m [env.py: 1086] +05/18 14:24:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:24:04 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 14:24:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 14:24:04 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:24:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:24:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.092s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:24:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.380s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:24:10 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.820[m] 67.953[deg] [grasp_sample.py: 596] +05/18 14:24:10 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:24:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:24:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:24:11 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 14:25:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:25:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:25:24 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:26:06 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:26:23 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 14:26:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:26:23 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/18 14:26:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:26:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 14:26:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 11.88s (batch: 2.75s, save: 9.14s) [pipeline.py: 300] +05/18 14:26:35 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=4.13s: + episode_total: mean=31.90s, total=255.23s, count=8, min=5120.2ms, max=151746.6ms + sensor_polling: mean=348.4ms, total=123.34s, count=354, min=319.3ms, max=433.7ms + save_trajectories: mean=9.14s, total=9.14s, count=1, min=9135.1ms, max=9135.1ms + physics_step: mean=22.8ms, total=8.08s, count=354, min=18.6ms, max=31.4ms + task_sampling: mean=516.0ms, total=4.13s, count=8, min=455.5ms, max=564.0ms + task_specific_sample: mean=513.1ms, total=4.10s, count=8, min=452.6ms, max=561.2ms + save_batch_prep: mean=2.75s, total=2.75s, count=1, min=2745.1ms, max=2745.1ms + scene_randomize: mean=1.5ms, total=12.3ms, count=8, min=1.1ms, max=2.3ms + mj_forward_sync: mean=499.5us, total=4.0ms, count=8, min=0.4ms, max=0.6ms + policy_setup: mean=13.3us, total=0.1ms, count=8, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:26:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:26:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:26:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:26:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:26:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:26:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:26:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:26:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:26:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:26:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:26:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168918m [env.py: 870] +05/18 14:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:26:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23180005 -1.25336672 -0.16891838] yaw=-28.0deg [env.py: 1019] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -70.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.84730171 -0.64599125 -0.16891838] yaw=-64.8deg [env.py: 1019] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35718557 -1.08095158 -0.16891838] yaw=-34.7deg [env.py: 1019] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:26:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=181.4ms, total=181.5ms [env.py: 1075] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.232, -1.253, -0.169) [env.py: 1079] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.0 deg [env.py: 1082] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/18 14:26:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:26:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:26:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:26:37 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 14:26:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s [base_object_manipulation_planner_policy.py: 377] +05/18 14:26:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:26:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:26:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.092s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:26:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.601s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:26:39 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.639[m] 85.689[deg] [grasp_sample.py: 596] +05/18 14:26:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:26:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:26:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:27:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:27:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:27:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:28:20 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:28:35 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 14:28:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:28:35 INFO: [Worker 0] Preparing episode data: 264 timesteps [save_utils.py: 278] +05/18 14:28:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:28:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 14:28:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 10.44s (batch: 2.55s, save: 7.89s) [pipeline.py: 300] +05/18 14:28:45 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.43s: + episode_total: mean=129.07s, total=129.07s, count=1, min=129074.3ms, max=129074.3ms + sensor_polling: mean=349.5ms, total=91.91s, count=263, min=332.2ms, max=452.3ms + save_trajectories: mean=7.89s, total=7.89s, count=1, min=7890.1ms, max=7890.1ms + physics_step: mean=22.8ms, total=6.00s, count=263, min=18.7ms, max=26.3ms + save_batch_prep: mean=2.55s, total=2.55s, count=1, min=2545.4ms, max=2545.4ms + task_sampling: mean=431.1ms, total=431.1ms, count=1, min=431.1ms, max=431.1ms + task_specific_sample: mean=427.6ms, total=427.6ms, count=1, min=427.6ms, max=427.6ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=451.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=14.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:28:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:28:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:28:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:28:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:28:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:28:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:28:47 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 14:28:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:28:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164371m [env.py: 870] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:28:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 176.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35171139 -1.16832068 -0.16437068] yaw=-43.3deg [env.py: 1019] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.21319513 -1.35030395 -0.16437068] yaw=-52.0deg [env.py: 1019] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.83949035 -0.91453244 -0.16437068] yaw=-106.9deg [env.py: 1019] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:28:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=204.0ms, total=204.0ms [env.py: 1075] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.352, -1.168, -0.164) [env.py: 1079] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.3 deg [env.py: 1082] +05/18 14:28:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m [env.py: 1086] +05/18 14:28:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:28:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:28:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:28:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:28:47 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 14:28:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/18 14:28:47 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 14:28:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:28:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:28:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.242s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:28:53 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.766[m] 93.257[deg] [grasp_sample.py: 596] +05/18 14:28:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:28:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:28:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:28:54 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 14:29:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:30:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:30:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:30:48 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:31:05 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 14:31:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:31:05 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/18 14:31:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:31:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 14:31:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 11.94s (batch: 2.70s, save: 9.24s) [pipeline.py: 300] +05/18 14:31:18 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.46s: + episode_total: mean=151.06s, total=151.06s, count=1, min=151061.5ms, max=151061.5ms + sensor_polling: mean=350.5ms, total=103.06s, count=294, min=327.4ms, max=463.1ms + save_trajectories: mean=9.24s, total=9.24s, count=1, min=9243.7ms, max=9243.7ms + physics_step: mean=22.7ms, total=6.67s, count=294, min=19.2ms, max=26.6ms + save_batch_prep: mean=2.70s, total=2.70s, count=1, min=2700.2ms, max=2700.2ms + task_sampling: mean=457.8ms, total=457.8ms, count=1, min=457.8ms, max=457.8ms + task_specific_sample: mean=454.3ms, total=454.3ms, count=1, min=454.3ms, max=454.3ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=453.4us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.8us, 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 14:31:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:31:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:31:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:31:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:31:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:31:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:31:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:31:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:31:19 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 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122563m [env.py: 870] +05/18 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:31:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22478753 -1.29330777 -0.12256274] yaw=-16.7deg [env.py: 1019] +05/18 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.4389981 -1.05919305 -0.12256274] yaw=-52.1deg [env.py: 1019] +05/18 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -107.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.8264022 -0.90682725 -0.12256274] yaw=-98.7deg [env.py: 1019] +05/18 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:31:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.3ms, total=121.4ms [env.py: 1075] +05/18 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.225, -1.293, -0.123) [env.py: 1079] +05/18 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -16.7 deg [env.py: 1082] +05/18 14:31:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/18 14:31:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:31:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:31:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:31:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:31:19 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 14:31:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s [base_object_manipulation_planner_policy.py: 377] +05/18 14:31:19 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 14:31:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:31:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:31:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.681s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:31:21 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.695[m] 77.551[deg] [grasp_sample.py: 596] +05/18 14:31:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:31:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:31:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:31:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:32:12 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:32:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:32:22 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:33:05 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:33:20 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 14:33:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:33:20 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/18 14:33:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:33:31 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 14:33:31 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 10.85s (batch: 2.59s, save: 8.26s) [pipeline.py: 300] +05/18 14:33:32 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.37s: + episode_total: mean=132.65s, total=132.65s, count=1, min=132647.0ms, max=132647.0ms + sensor_polling: mean=352.8ms, total=94.90s, count=269, min=336.2ms, max=468.9ms + save_trajectories: mean=8.26s, total=8.26s, count=1, min=8262.8ms, max=8262.8ms + physics_step: mean=22.6ms, total=6.09s, count=269, min=19.2ms, max=26.6ms + save_batch_prep: mean=2.59s, total=2.59s, count=1, min=2591.0ms, max=2591.0ms + task_sampling: mean=373.9ms, total=373.9ms, count=1, min=373.9ms, max=373.9ms + task_specific_sample: mean=370.5ms, total=370.5ms, count=1, min=370.5ms, max=370.5ms + scene_randomize: mean=2.2ms, total=2.2ms, count=1, min=2.2ms, max=2.2ms + mj_forward_sync: mean=427.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.8us, 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 14:33:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:33:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:33 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 14:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133200m [env.py: 870] +05/18 14:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4352149 -0.87707529 -0.13319985] yaw=-31.3deg [env.py: 1019] +05/18 14:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=244.4ms, total=244.4ms [env.py: 1075] +05/18 14:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.435, -0.877, -0.133) [env.py: 1079] +05/18 14:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.3 deg [env.py: 1082] +05/18 14:33:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/18 14:33:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:33 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:33:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.094s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.561s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:33:40 INFO: [Worker 0] Feasible grasp found 142 (originally 142): w/ 0.925[m] 63.779[deg] [grasp_sample.py: 596] +05/18 14:33:41 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:33:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:42 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 14:33:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:42 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 14:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136674m [env.py: 870] +05/18 14:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -33.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.07449378 -1.16403849 -0.13667371] yaw=-42.5deg [env.py: 1019] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -48.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.44788871 -0.92926035 -0.13667371] yaw=-50.0deg [env.py: 1019] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=283.2ms, total=283.3ms [env.py: 1075] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.074, -1.164, -0.137) [env.py: 1079] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.5 deg [env.py: 1082] +05/18 14:33:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/18 14:33:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:43 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:33:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.004s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:33:48 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:33:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:33:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155906m [env.py: 870] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 167.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.23038937 -1.36853667 -0.15590583] yaw=-52.8deg [env.py: 1019] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -60.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=281.1ms, total=281.2ms [env.py: 1075] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.230, -1.369, -0.156) [env.py: 1079] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.8 deg [env.py: 1082] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:50 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:33:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.536s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:33:52 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.560[m] 90.787[deg] [grasp_sample.py: 596] +05/18 14:33:53 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:33:53 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 14:33:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:33:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182014m [env.py: 870] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42275553 -0.93493726 -0.18201416] yaw=-50.5deg [env.py: 1019] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42953905 -0.77698888 -0.18201416] yaw=-40.8deg [env.py: 1019] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.22659133 -1.11206186 -0.18201416] yaw=-48.7deg [env.py: 1019] +05/18 14:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=233.8ms, total=233.9ms [env.py: 1075] +05/18 14:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.423, -0.935, -0.182) [env.py: 1079] +05/18 14:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg [env.py: 1082] +05/18 14:33:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/18 14:33:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:55 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.120s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:33:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:34:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.244s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:34:00 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.810[m] 79.619[deg] [grasp_sample.py: 596] +05/18 14:34:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:34:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:34:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:34:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:35:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:35:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:35:11 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:35:53 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:36:10 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 14:36:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:36:10 INFO: [Worker 0] Preparing episode data: 295 timesteps [save_utils.py: 278] +05/18 14:36:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:36:21 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 14:36:21 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 11.67s (batch: 2.68s, save: 8.99s) [pipeline.py: 300] +05/18 14:36:22 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=2.12s: + episode_total: mean=41.37s, total=165.50s, count=4, min=3639.7ms, max=147458.0ms + sensor_polling: mean=349.6ms, total=102.78s, count=294, min=334.0ms, max=452.1ms + save_trajectories: mean=8.99s, total=8.99s, count=1, min=8994.4ms, max=8994.4ms + physics_step: mean=22.9ms, total=6.74s, count=294, min=18.9ms, max=31.3ms + save_batch_prep: mean=2.68s, total=2.68s, count=1, min=2679.4ms, max=2679.4ms + task_sampling: mean=530.6ms, total=2.12s, count=4, min=501.9ms, max=559.6ms + task_specific_sample: mean=527.6ms, total=2.11s, count=4, min=499.4ms, max=556.7ms + scene_randomize: mean=1.6ms, total=6.4ms, count=4, min=1.2ms, max=2.0ms + mj_forward_sync: mean=483.2us, total=1.9ms, count=4, min=0.4ms, max=0.5ms + policy_setup: mean=14.8us, 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 14:36:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:36:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:36:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:36:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:36:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:36:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:36:23 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 14:36:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:36:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108392m [env.py: 870] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:36:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.21535809 -1.16420766 -0.10839248] yaw=-32.7deg [env.py: 1019] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.46046938 -0.98335988 -0.10839248] yaw=-84.4deg [env.py: 1019] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.18025815 -1.0327832 -0.10839248] yaw=-41.8deg [env.py: 1019] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:36:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=248.8ms, total=248.8ms [env.py: 1075] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.215, -1.164, -0.108) [env.py: 1079] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.7 deg [env.py: 1082] +05/18 14:36:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.928m [env.py: 1086] +05/18 14:36:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:36:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:36:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:36:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:36:23 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 14:36:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.148s [base_object_manipulation_planner_policy.py: 377] +05/18 14:36:24 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 14:36:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:36:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:36:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.984s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:36:34 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.808[m] 74.762[deg] [grasp_sample.py: 596] +05/18 14:36:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:36:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:36:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:36:35 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 14:37:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:37:42 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:37:45 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:38:26 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:38:43 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 14:38:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:38:43 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/18 14:38:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:38:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 14:38:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 11.74s (batch: 2.61s, save: 9.13s) [pipeline.py: 300] +05/18 14:38:55 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.50s: + episode_total: mean=152.17s, total=152.17s, count=1, min=152172.0ms, max=152172.0ms + sensor_polling: mean=342.1ms, total=102.29s, count=299, min=321.2ms, max=433.9ms + save_trajectories: mean=9.13s, total=9.13s, count=1, min=9131.7ms, max=9131.7ms + physics_step: mean=22.5ms, total=6.73s, count=299, min=16.4ms, max=28.1ms + save_batch_prep: mean=2.61s, total=2.61s, count=1, min=2610.5ms, max=2610.5ms + task_sampling: mean=503.7ms, total=503.7ms, count=1, min=503.7ms, max=503.7ms + task_specific_sample: mean=500.2ms, total=500.2ms, count=1, min=500.2ms, max=500.2ms + scene_randomize: mean=2.3ms, total=2.3ms, count=1, min=2.3ms, max=2.3ms + mj_forward_sync: mean=438.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:38:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:38:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:38:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:38:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:38:56 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 14:38:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:38:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111666m [env.py: 870] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:38:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -2.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -167.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -4.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.59088771 -1.00745237 -0.11166601] yaw=-69.1deg [env.py: 1019] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.11458971 -1.28333023 -0.11166601] yaw=-7.8deg [env.py: 1019] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:38:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=249.3ms, total=249.4ms [env.py: 1075] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.591, -1.007, -0.112) [env.py: 1079] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.1 deg [env.py: 1082] +05/18 14:38:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/18 14:38:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:38:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:38:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:38:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:38:57 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 14:38:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.136s [base_object_manipulation_planner_policy.py: 377] +05/18 14:38:57 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 14:38:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:38:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:38:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.026s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:38:59 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.662[m] 98.485[deg] [grasp_sample.py: 596] +05/18 14:38:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:38:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:38:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:39:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:39:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:39:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:39:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:39:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:39:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.231s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:39:27 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.509[m] 71.741[deg] [grasp_sample.py: 596] +05/18 14:39:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:39:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:39:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:39:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:40 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:39:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:39:40 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 14:39:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:39:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:39:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.247s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:39:42 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.509[m] 71.741[deg] [grasp_sample.py: 596] +05/18 14:39:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:39:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:39:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:39:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:39:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:39:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:39:55 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 14:39:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:39:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:39:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.506s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:39:58 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.509[m] 71.741[deg] [grasp_sample.py: 596] +05/18 14:39:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:39:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:39:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:40:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:40:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:40:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:40:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:40:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:40:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:40:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:40:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:40:10 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:40:10 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:40:11 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:40:11 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=False episode_total=0.51s: + episode_total: mean=74.53s, total=74.53s, count=1, min=74528.4ms, max=74528.4ms + sensor_polling: mean=362.4ms, total=25.73s, count=71, min=343.6ms, max=395.3ms + physics_step: mean=19.9ms, total=1.41s, count=71, min=14.5ms, max=25.7ms + task_sampling: mean=508.3ms, total=508.3ms, count=1, min=508.3ms, max=508.3ms + task_specific_sample: mean=504.8ms, total=504.8ms, count=1, min=504.8ms, max=504.8ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=440.6us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=14.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:40:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:40:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:40:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:40:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:40:12 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:40:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:40:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152553m [env.py: 870] +05/18 14:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:40:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -93.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.37385986 -0.86769639 -0.15255264] yaw=-62.8deg [env.py: 1019] +05/18 14:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 50.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:40:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=239.9ms, total=239.9ms [env.py: 1075] +05/18 14:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.374, -0.868, -0.153) [env.py: 1079] +05/18 14:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg [env.py: 1082] +05/18 14:40:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.038m [env.py: 1086] +05/18 14:40:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:40:12 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 14:40:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/18 14:40:13 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:40:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:40:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:40:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.532s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:40:23 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:40:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:40:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:40:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:40:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:40:24 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 14:40:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:40:24 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 14:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168404m [env.py: 870] +05/18 14:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:40:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42775424 -1.0719834 -0.16840432] yaw=-42.5deg [env.py: 1019] +05/18 14:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:40:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=239.9ms, total=240.0ms [env.py: 1075] +05/18 14:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.428, -1.072, -0.168) [env.py: 1079] +05/18 14:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.5 deg [env.py: 1082] +05/18 14:40:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.841m [env.py: 1086] +05/18 14:40:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:40:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:40:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:40:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:40:25 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 14:40:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 14:40:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:40:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:40:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:40:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.852s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:40:31 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.792[m] 66.075[deg] [grasp_sample.py: 596] +05/18 14:40:31 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:40:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:40:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:40:32 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 14:41:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:41:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:41:43 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:42:25 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:42:42 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 14:42:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:42:42 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/18 14:42:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:42:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 14:42:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 11.56s (batch: 2.68s, save: 8.87s) [pipeline.py: 300] +05/18 14:42:54 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=0.97s: + episode_total: mean=80.26s, total=160.52s, count=2, min=11243.5ms, max=149274.7ms + sensor_polling: mean=349.9ms, total=101.81s, count=291, min=331.3ms, max=448.6ms + save_trajectories: mean=8.87s, total=8.87s, count=1, min=8874.2ms, max=8874.2ms + physics_step: mean=23.2ms, total=6.75s, count=291, min=18.9ms, max=26.8ms + save_batch_prep: mean=2.68s, total=2.68s, count=1, min=2682.5ms, max=2682.5ms + task_sampling: mean=487.1ms, total=974.2ms, count=2, min=482.9ms, max=491.3ms + task_specific_sample: mean=484.0ms, total=967.9ms, count=2, min=479.9ms, max=488.0ms + scene_randomize: mean=1.2ms, total=2.3ms, count=2, min=1.1ms, max=1.2ms + mj_forward_sync: mean=458.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=12.6us, 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 14:42:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:42:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:42:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:42:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:42:55 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 14:42:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:42:55 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 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120596m [env.py: 870] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:42:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -121.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.86254925 -0.7467713 -0.12059601] yaw=-111.4deg [env.py: 1019] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.80446367 -0.64601244 -0.12059601] yaw=-110.9deg [env.py: 1019] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:42:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=247.5ms, total=247.6ms [env.py: 1075] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.863, -0.747, -0.121) [env.py: 1079] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -111.4 deg [env.py: 1082] +05/18 14:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m [env.py: 1086] +05/18 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:42:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:42:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:42:55 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 14:42:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/18 14:42:55 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 14:42:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:42:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.097s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 20.104s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:43:16 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.696[m] 86.365[deg] [grasp_sample.py: 596] +05/18 14:43:17 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:43:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:43:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:43:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:43:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:43:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:43:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108827m [env.py: 870] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:43:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -63.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.33496939 -0.82921058 -0.10882665] yaw=-34.7deg [env.py: 1019] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.18525973 -1.12786324 -0.10882665] yaw=-64.5deg [env.py: 1019] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.26192352 -1.03361406 -0.10882665] yaw=-63.4deg [env.py: 1019] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:43:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.8ms, total=223.9ms [env.py: 1075] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.335, -0.829, -0.109) [env.py: 1079] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.7 deg [env.py: 1082] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:43:18 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 14:43:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 14:43:19 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 14:43:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:43:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.092s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.972s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:43:24 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:43:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:43:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:43:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:43:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:43:25 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 14:43:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:43:25 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 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119714m [env.py: 870] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:43:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -125.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61293451 -0.84870653 -0.11971397] yaw=-72.3deg [env.py: 1019] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.56106427 -0.720495 -0.11971397] yaw=-50.2deg [env.py: 1019] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:43:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=282.5ms, total=282.6ms [env.py: 1075] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.613, -0.849, -0.120) [env.py: 1079] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.3 deg [env.py: 1082] +05/18 14:43:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/18 14:43:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:43:25 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 14:43:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/18 14:43:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:43:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:43:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.283s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:43:40 INFO: [Worker 0] Feasible grasp found 535 (originally 228): w/ 0.770[m] 89.518[deg] [grasp_sample.py: 596] +05/18 14:43:41 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:43:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:43:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:43:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:43:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:43:42 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 14:43:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:43:42 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 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172377m [env.py: 870] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:43:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.29938869 -1.19578111 -0.17237708] yaw=-37.2deg [env.py: 1019] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.11600054 -1.38516228 -0.17237708] yaw=-2.1deg [env.py: 1019] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:43:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.9ms, total=239.9ms [env.py: 1075] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.299, -1.196, -0.172) [env.py: 1079] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.2 deg [env.py: 1082] +05/18 14:43:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.843m [env.py: 1086] +05/18 14:43:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:43:43 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 14:43:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:43:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:43:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:43:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.099s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.980s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:43:55 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.659[m] 87.670[deg] [grasp_sample.py: 596] +05/18 14:43:56 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:43:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:43:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:43:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:43:57 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 14:43:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:43:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185590m [env.py: 870] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:43:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 8.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -43.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46518347 -1.05313423 -0.18559047] yaw=-65.2deg [env.py: 1019] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.17250497 -1.41801081 -0.18559047] yaw=3.8deg [env.py: 1019] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:43:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=237.4ms, total=237.5ms [env.py: 1075] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.465, -1.053, -0.186) [env.py: 1079] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.2 deg [env.py: 1082] +05/18 14:43:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.833m [env.py: 1086] +05/18 14:43:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:43:58 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 14:43:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 14:43:58 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 14:43:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:43:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:44:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.738s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:44:00 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.638[m] 112.751[deg] [grasp_sample.py: 596] +05/18 14:44:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:44:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:44:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:44:00 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 14:44:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:44:21 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:44:21 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:44:21 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 14:44:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:44:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:44:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.519s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:44:27 INFO: [Worker 0] Feasible grasp found 551 (originally 244): w/ 0.563[m] 95.596[deg] [grasp_sample.py: 596] +05/18 14:44:29 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:44:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:44:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:44:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:44:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:44:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:44:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:44:30 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 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143618m [env.py: 870] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:44:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -64.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -87.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.48934434 -0.89421884 -0.14361801] yaw=-54.8deg [env.py: 1019] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.04958086 -1.19202809 -0.14361801] yaw=-57.8deg [env.py: 1019] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:44:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.0ms, total=240.0ms [env.py: 1075] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.489, -0.894, -0.144) [env.py: 1079] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.8 deg [env.py: 1082] +05/18 14:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.955m [env.py: 1086] +05/18 14:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:44:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:44:31 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 14:44:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 14:44:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:44:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:44:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:44:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.237s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:44:36 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.687[m] 78.851[deg] [grasp_sample.py: 596] +05/18 14:44:37 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:44:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:44:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:44:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:44:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:44:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:44:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:44:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:44:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:44:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:44:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:44:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184818m [env.py: 870] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:44:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -22.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -52.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.11310878 -1.23979179 -0.1848185 ] yaw=-26.2deg [env.py: 1019] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -122.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.17867616 -1.44244329 -0.1848185 ] yaw=-39.2deg [env.py: 1019] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23790396 -1.10369669 -0.1848185 ] yaw=-24.4deg [env.py: 1019] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:44:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=285.3ms, total=285.3ms [env.py: 1075] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.113, -1.240, -0.185) [env.py: 1079] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.2 deg [env.py: 1082] +05/18 14:44:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/18 14:44:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:44:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:44:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:44:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:44:39 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 14:44:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.126s [base_object_manipulation_planner_policy.py: 377] +05/18 14:44:39 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 14:44:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:44:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:44:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.660s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:44:51 INFO: [Worker 0] Feasible grasp found 103 (originally 103): w/ 0.607[m] 108.784[deg] [grasp_sample.py: 596] +05/18 14:44:52 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:44:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:44:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:44:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:44:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:44:53 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 14:44:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:44:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111528m [env.py: 870] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:44:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.02561004 -1.32843024 -0.11152847] yaw=-33.3deg [env.py: 1019] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -45.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.72101805 -0.74791204 -0.11152847] yaw=-98.2deg [env.py: 1019] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.71381618 -0.69282913 -0.11152847] yaw=-88.0deg [env.py: 1019] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:44:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=176.4ms, total=176.4ms [env.py: 1075] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.026, -1.328, -0.112) [env.py: 1079] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.3 deg [env.py: 1082] +05/18 14:44:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m [env.py: 1086] +05/18 14:44:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:44:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:44:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:44:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:44:54 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 14:44:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/18 14:44:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:44:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:44:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:44:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.941s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:44:59 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:45:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:45:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:45:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:45:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:45:00 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 14:45:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:45:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198866m [env.py: 870] +05/18 14:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:45:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=272.0ms, total=272.0ms [env.py: 1105] +05/18 14:45:00 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:45:00 ERROR: [Worker 0] Worker 0 house 1 episode 36 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:45:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:45:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:45:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:45:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:45:02 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 14:45:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:45:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194339m [env.py: 870] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:45:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.40648078 -0.84886795 -0.19433873] yaw=-67.6deg [env.py: 1019] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.56943113 -0.97262079 -0.19433873] yaw=-71.6deg [env.py: 1019] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -46.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.28542588 -1.0656558 -0.19433873] yaw=-71.1deg [env.py: 1019] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:45:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.2ms, total=160.3ms [env.py: 1075] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.406, -0.849, -0.194) [env.py: 1079] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.6 deg [env.py: 1082] +05/18 14:45:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m [env.py: 1086] +05/18 14:45:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:45:02 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 14:45:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/18 14:45:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:45:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:45:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:45:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.290s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:45:08 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.798[m] 92.211[deg] [grasp_sample.py: 596] +05/18 14:45:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:45:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:45:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:45:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:46:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:16 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:46:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:46:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:47:13 INFO: [Worker 0] Worker 0 house 1 episode 37 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:47:31 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 14:47:31 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:47:31 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278] +05/18 14:47:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:47:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 14:47:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 11.80s (batch: 2.67s, save: 9.13s) [pipeline.py: 300] +05/18 14:47:43 INFO: [Worker 0] [PROFILE] Episode 37 house 1 success=True episode_total=4.39s: + episode_total: mean=27.74s, total=277.35s, count=10, min=281.7ms, max=161088.5ms + sensor_polling: mean=355.8ms, total=115.26s, count=324, min=335.4ms, max=469.0ms + save_trajectories: mean=9.13s, total=9.13s, count=1, min=9129.9ms, max=9129.9ms + physics_step: mean=23.1ms, total=7.47s, count=324, min=19.2ms, max=27.1ms + task_specific_sample: mean=463.9ms, total=4.64s, count=10, min=277.9ms, max=556.5ms + task_sampling: mean=487.4ms, total=4.39s, count=9, min=419.5ms, max=559.6ms + save_batch_prep: mean=2.67s, total=2.67s, count=1, min=2670.5ms, max=2670.5ms + task_sampling_failed: mean=281.7ms, total=281.7ms, count=1, min=281.7ms, max=281.7ms + scene_randomize: mean=1.4ms, total=13.7ms, count=10, min=1.1ms, max=2.0ms + mj_forward_sync: mean=500.1us, total=5.0ms, count=10, min=0.4ms, max=0.6ms + policy_setup: mean=13.3us, total=0.1ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:47:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:47:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:47:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:47:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:47:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:47:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:47:44 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 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197751m [env.py: 870] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:47:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 16.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 37.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 5.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.75403632 -0.65047506 -0.19775121] yaw=-103.0deg [env.py: 1019] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.11769521 -1.16685611 -0.19775121] yaw=-31.2deg [env.py: 1019] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.12182621 -1.03477643 -0.19775121] yaw=-55.8deg [env.py: 1019] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:47:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=244.9ms, total=244.9ms [env.py: 1075] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.754, -0.650, -0.198) [env.py: 1079] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.0 deg [env.py: 1082] +05/18 14:47:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/18 14:47:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:47:44 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 14:47:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.131s [base_object_manipulation_planner_policy.py: 377] +05/18 14:47:44 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 14:47:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:47:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:47:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.078s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:47:50 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:47:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:47:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:47:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:47:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:47:51 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 14:47:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:47:51 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 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193153m [env.py: 870] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:47:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.26025257 -1.30131312 -0.19315297] yaw=-3.4deg [env.py: 1019] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -38.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -155.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.66967932 -0.71877311 -0.19315297] yaw=-55.0deg [env.py: 1019] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:47:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=282.6ms, total=282.7ms [env.py: 1075] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -1.301, -0.193) [env.py: 1079] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -3.4 deg [env.py: 1082] +05/18 14:47:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.813m [env.py: 1086] +05/18 14:47:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:47:51 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 14:47:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 14:47:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:47:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:47:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:47:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.247s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:47:57 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.693[m] 77.833[deg] [grasp_sample.py: 596] +05/18 14:47:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:47:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:47:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:48:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:48:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:49:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:49:41 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:49:57 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 14:49:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:49:57 INFO: [Worker 0] Preparing episode data: 278 timesteps [save_utils.py: 278] +05/18 14:50:08 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:50:08 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 14:50:08 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 11.07s (batch: 2.63s, save: 8.44s) [pipeline.py: 300] +05/18 14:50:09 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=1.06s: + episode_total: mean=71.83s, total=143.65s, count=2, min=5807.2ms, max=137845.5ms + sensor_polling: mean=345.7ms, total=95.77s, count=277, min=319.2ms, max=443.3ms + save_trajectories: mean=8.44s, total=8.44s, count=1, min=8444.4ms, max=8444.4ms + physics_step: mean=23.0ms, total=6.37s, count=277, min=19.6ms, max=26.4ms + save_batch_prep: mean=2.63s, total=2.63s, count=1, min=2627.8ms, max=2627.8ms + task_sampling: mean=528.0ms, total=1.06s, count=2, min=499.7ms, max=556.4ms + task_specific_sample: mean=525.1ms, total=1.05s, count=2, min=496.7ms, max=553.5ms + scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.2ms, max=1.9ms + mj_forward_sync: mean=459.4us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=15.2us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:50:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:50:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:50:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:50:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:50:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:50:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:50:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:50:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:50:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:50:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191463m [env.py: 870] +05/18 14:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:50:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -48.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 24.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=236.8ms, total=236.8ms [env.py: 1105] +05/18 14:50:10 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:50:10 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:50:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:50:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:50:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:50:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:50:11 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 14:50:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:50:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173806m [env.py: 870] +05/18 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:50:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.51174408 -0.93860136 -0.17380635] yaw=-88.8deg [env.py: 1019] +05/18 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -73.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:50:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.5ms, total=236.6ms [env.py: 1075] +05/18 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.512, -0.939, -0.174) [env.py: 1079] +05/18 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.8 deg [env.py: 1082] +05/18 14:50:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/18 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:50:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:50:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:50:12 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/18 14:50:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.127s [base_object_manipulation_planner_policy.py: 377] +05/18 14:50:12 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 14:50:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:50:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:50:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.228s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:50:17 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.732[m] 83.451[deg] [grasp_sample.py: 596] +05/18 14:50:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:50:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:50:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:51:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:51:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:51:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:51:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:51:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:51:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:51:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:51:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:51:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:52:14 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:52:30 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 14:52:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:52:30 INFO: [Worker 0] Preparing episode data: 276 timesteps [save_utils.py: 278] +05/18 14:52:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:52:40 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 14:52:40 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 10.51s (batch: 2.55s, save: 7.96s) [pipeline.py: 300] +05/18 14:52:40 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=0.49s: + episode_total: mean=74.72s, total=149.44s, count=2, min=247.2ms, max=149188.3ms + sensor_polling: mean=356.9ms, total=98.14s, count=275, min=338.2ms, max=455.9ms + save_trajectories: mean=7.96s, total=7.96s, count=1, min=7964.9ms, max=7964.9ms + physics_step: mean=23.4ms, total=6.43s, count=275, min=19.0ms, max=26.7ms + save_batch_prep: mean=2.55s, total=2.55s, count=1, min=2546.0ms, max=2546.0ms + task_specific_sample: mean=367.3ms, total=734.7ms, count=2, min=242.4ms, max=492.2ms + task_sampling: mean=494.9ms, total=494.9ms, count=1, min=494.9ms, max=494.9ms + task_sampling_failed: mean=247.2ms, total=247.2ms, count=1, min=247.2ms, max=247.2ms + scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.1ms, max=2.0ms + mj_forward_sync: mean=442.0us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=16.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:52:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:52:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:52:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:52:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:52:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:52:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:52:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.200m, effective arm-mount z=0.660m (base_body_z=-0.200m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199601m [env.py: 870] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:52:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -8.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.72666293 -0.68327114 -0.1996009 ] yaw=-74.7deg [env.py: 1019] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.91091382 -0.7091838 -0.1996009 ] yaw=-102.9deg [env.py: 1019] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:52:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=245.6ms, total=245.6ms [env.py: 1075] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.727, -0.683, -0.200) [env.py: 1079] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.7 deg [env.py: 1082] +05/18 14:52:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.071m [env.py: 1086] +05/18 14:52:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:52:42 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 14:52:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s [base_object_manipulation_planner_policy.py: 377] +05/18 14:52:42 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 14:52:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:52:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:52:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.024s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:52:47 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:52:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:52:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:52:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:52:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:52:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:52:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:52:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117326m [env.py: 870] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:52:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -116.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -156.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.08347186 -1.12363402 -0.11732576] yaw=-7.8deg [env.py: 1019] +05/18 14:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 19.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.32771634 -0.84096071 -0.11732576] yaw=-47.5deg [env.py: 1019] +05/18 14:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.32866052 -1.22143206 -0.11732576] yaw=-52.9deg [env.py: 1019] +05/18 14:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:52:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=285.2ms, total=285.3ms [env.py: 1075] +05/18 14:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.083, -1.124, -0.117) [env.py: 1079] +05/18 14:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -7.8 deg [env.py: 1082] +05/18 14:52:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m [env.py: 1086] +05/18 14:52:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:52:49 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/18 14:52:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:52:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:52:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:52:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:52:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.066s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:52:54 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:52:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:52:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:52:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:52:56 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 14:52:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:52:56 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 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172023m [env.py: 870] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:52:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -178.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.3370636 -1.05730258 -0.17202279] yaw=-62.5deg [env.py: 1019] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.01505999 -1.39370273 -0.17202279] yaw=-30.1deg [env.py: 1019] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:52:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=281.5ms, total=281.5ms [env.py: 1075] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.337, -1.057, -0.172) [env.py: 1079] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg [env.py: 1082] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:52:56 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/18 14:52:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/18 14:52:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:52:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:52:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:53:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.199s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:53:01 INFO: [Worker 0] Feasible grasp found 565 (originally 258): w/ 0.887[m] 85.249[deg] [grasp_sample.py: 596] +05/18 14:53:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:53:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:53:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:53:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:53:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:53:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:53:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:53:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:53:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:53:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:53:39 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:53:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:53:39 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 14:53:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:53:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.092s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:53:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.049s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:53:47 INFO: [Worker 0] Feasible grasp found 565 (originally 258): w/ 0.631[m] 56.053[deg] [grasp_sample.py: 596] +05/18 14:53:48 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:53:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:53:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:53:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:53:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:53:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:53:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:53:50 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 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128459m [env.py: 870] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:53:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -8.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42112643 -0.91404918 -0.12845942] yaw=-38.8deg [env.py: 1019] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 47.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -107.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.68278062 -0.84051641 -0.12845942] yaw=-91.5deg [env.py: 1019] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.09238012 -1.24892959 -0.12845942] yaw=-54.3deg [env.py: 1019] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:53:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=259.1ms, total=259.1ms [env.py: 1075] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.421, -0.914, -0.128) [env.py: 1079] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.8 deg [env.py: 1082] +05/18 14:53:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.973m [env.py: 1086] +05/18 14:53:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:53:50 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 14:53:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 14:53:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:53:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:53:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:53:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.237s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:53:56 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.653[m] 90.084[deg] [grasp_sample.py: 596] +05/18 14:53:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:53:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:53:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:54:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:54:52 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:54:55 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:55:38 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:55:53 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 14:55:53 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:55:53 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/18 14:56:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:56:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 14:56:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 10.39s (batch: 2.56s, save: 7.83s) [pipeline.py: 300] +05/18 14:56:04 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=2.13s: + episode_total: mean=49.72s, total=198.88s, count=4, min=5769.1ms, max=134422.1ms + sensor_polling: mean=351.8ms, total=118.55s, count=337, min=331.9ms, max=471.9ms + save_trajectories: mean=7.83s, total=7.83s, count=1, min=7828.8ms, max=7828.8ms + physics_step: mean=22.7ms, total=7.66s, count=337, min=18.8ms, max=26.4ms + save_batch_prep: mean=2.56s, total=2.56s, count=1, min=2558.2ms, max=2558.2ms + task_sampling: mean=531.9ms, total=2.13s, count=4, min=502.1ms, max=557.5ms + task_specific_sample: mean=529.1ms, total=2.12s, count=4, min=499.1ms, max=554.6ms + scene_randomize: mean=1.4ms, total=5.6ms, count=4, min=1.2ms, max=1.9ms + mj_forward_sync: mean=472.8us, total=1.9ms, count=4, min=0.4ms, max=0.5ms + policy_setup: mean=15.3us, 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 14:56:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:56:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:56:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:56:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:56:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:56:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:56:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:56:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:56:05 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 14:56:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:56:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.138m, effective arm-mount z=0.722m (base_body_z=-0.138m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137902m [env.py: 870] +05/18 14:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:56:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.562008 -0.85525441 -0.13790246] yaw=-56.5deg [env.py: 1019] +05/18 14:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.30029336 -1.1846683 -0.13790246] yaw=-52.5deg [env.py: 1019] +05/18 14:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 13.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:56:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:56:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=246.3ms, total=246.3ms [env.py: 1075] +05/18 14:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.562, -0.855, -0.138) [env.py: 1079] +05/18 14:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.5 deg [env.py: 1082] +05/18 14:56:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/18 14:56:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:56:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:56:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:56:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:56:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:56:06 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/18 14:56:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s [base_object_manipulation_planner_policy.py: 377] +05/18 14:56:06 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 14:56:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:56:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:56:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 15.134s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:56:21 INFO: [Worker 0] Feasible grasp found 63 (originally 63): w/ 0.727[m] 78.247[deg] [grasp_sample.py: 596] +05/18 14:56:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:56:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:56:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:56:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:57:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:57:22 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:57:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:58:08 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:58:25 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 14:58:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:58:25 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/18 14:58:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:58:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 14:58:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 10.82s (batch: 2.63s, save: 8.19s) [pipeline.py: 300] +05/18 14:58:36 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=True episode_total=0.51s: + episode_total: mean=150.53s, total=150.53s, count=1, min=150529.9ms, max=150529.9ms + sensor_polling: mean=351.9ms, total=98.53s, count=280, min=336.5ms, max=456.8ms + save_trajectories: mean=8.19s, total=8.19s, count=1, min=8192.8ms, max=8192.8ms + physics_step: mean=22.6ms, total=6.33s, count=280, min=16.2ms, max=26.6ms + save_batch_prep: mean=2.63s, total=2.63s, count=1, min=2626.3ms, max=2626.3ms + task_sampling: mean=505.2ms, total=505.2ms, count=1, min=505.2ms, max=505.2ms + task_specific_sample: mean=502.1ms, total=502.1ms, count=1, min=502.1ms, max=502.1ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=447.3us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:58:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:58:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:58:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:58:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:58:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:58:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:58:37 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 14:58:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:58:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148280m [env.py: 870] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:58:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 77.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -22.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.28055178 -1.18836986 -0.14827962] yaw=-29.7deg [env.py: 1019] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.2734874 -0.92922425 -0.14827962] yaw=-42.2deg [env.py: 1019] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.77407919 -0.86793419 -0.14827962] yaw=-83.1deg [env.py: 1019] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:58:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=168.8ms, total=168.8ms [env.py: 1075] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.281, -1.188, -0.148) [env.py: 1079] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.7 deg [env.py: 1082] +05/18 14:58:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/18 14:58:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:58:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:58:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:58:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:58:37 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 14:58:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.138s [base_object_manipulation_planner_policy.py: 377] +05/18 14:58:38 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 14:58:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:58:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:58:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.611s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:58:40 INFO: [Worker 0] Feasible grasp found 43 (originally 43): w/ 0.673[m] 91.901[deg] [grasp_sample.py: 596] +05/18 14:58:41 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:58:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:58:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:58:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:58:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:58:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:58:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:58:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:58:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:58:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:58:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:58:43 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.191m, effective arm-mount z=0.669m (base_body_z=-0.191m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191257m [env.py: 870] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:58:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -73.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -134.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 173.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.55354821 -0.85286928 -0.19125735] yaw=-81.5deg [env.py: 1019] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:58:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=228.1ms, total=228.2ms [env.py: 1075] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.554, -0.853, -0.191) [env.py: 1079] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.5 deg [env.py: 1082] +05/18 14:58:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.964m [env.py: 1086] +05/18 14:58:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:58:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:58:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:58:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:58:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:58:43 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 14:58:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 14:58:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:58:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:58:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:58:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.356s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:58:50 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.656[m] 76.986[deg] [grasp_sample.py: 596] +05/18 14:58:51 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:58:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:58:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:58:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:58:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:58:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:58:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:58:52 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 14:58:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:58:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108670m [env.py: 870] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:58:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.13453478 -1.23588355 -0.10867031] yaw=-52.6deg [env.py: 1019] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.90191488 -0.88238335 -0.10867031] yaw=-84.7deg [env.py: 1019] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 28.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.14369813 -1.37246844 -0.10867031] yaw=-49.3deg [env.py: 1019] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:58:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=238.6ms, total=238.7ms [env.py: 1075] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.135, -1.236, -0.109) [env.py: 1079] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.6 deg [env.py: 1082] +05/18 14:58:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.954m [env.py: 1086] +05/18 14:58:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:58:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:58:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:58:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:58:53 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/18 14:58:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 14:58:53 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 14:58:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:58:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:58:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.037s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:58:58 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:58:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:58:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:58:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:58:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:58:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:58:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:58:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:58:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:58:59 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 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174568m [env.py: 870] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:58:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.08600672 -1.05744326 -0.17456836] yaw=-50.3deg [env.py: 1019] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -23.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.03927739 -1.22250782 -0.17456836] yaw=-13.8deg [env.py: 1019] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:58:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=272.5ms, total=272.5ms [env.py: 1075] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.086, -1.057, -0.175) [env.py: 1079] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.3 deg [env.py: 1082] +05/18 14:58:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/18 14:58:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:58:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:58:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:59:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:59:00 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/18 14:59:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/18 14:59:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:59:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:59:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:59:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.142s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:59:05 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:59:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:59:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:59:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:59:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:59:06 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 14:59:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:59:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103106m [env.py: 870] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:59:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50180451 -0.95054985 -0.10310648] yaw=-76.7deg [env.py: 1019] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21285747 -0.93820227 -0.10310648] yaw=-49.2deg [env.py: 1019] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.73882534 -0.89290268 -0.10310648] yaw=-53.5deg [env.py: 1019] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:59:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=160.7ms, total=160.8ms [env.py: 1075] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.502, -0.951, -0.103) [env.py: 1079] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.7 deg [env.py: 1082] +05/18 14:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.900m [env.py: 1086] +05/18 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:59:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:59:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:59:07 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/18 14:59:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/18 14:59:07 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 14:59:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:59:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:59:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.761s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:59:15 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.580[m] 105.835[deg] [grasp_sample.py: 596] +05/18 14:59:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:59:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:59:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:59:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:59:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:59:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:59:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:00:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:00:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:00:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:00:44 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 15:00:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:00:44 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 15:00:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:00:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.166s, found 174 non-colliding grasps [grasp_sample.py: 520] +05/18 15:00:45 INFO: [Worker 0] Feasibility-checked 174 grasps in 0.920s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:00:45 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.046[m] 1.179[deg] [grasp_sample.py: 596] +05/18 15:00:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:00:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:00:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:00:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:00:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:01:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:01:17 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 15:01:34 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 15:01:34 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:01:34 INFO: [Worker 0] Preparing episode data: 298 timesteps [save_utils.py: 278] +05/18 15:01:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:01:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 15:01:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 11.46s (batch: 2.71s, save: 8.76s) [pipeline.py: 300] +05/18 15:01:46 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=2.39s: + episode_total: mean=36.81s, total=184.04s, count=5, min=4446.4ms, max=159506.1ms + sensor_polling: mean=354.8ms, total=105.38s, count=297, min=335.9ms, max=445.7ms + save_trajectories: mean=8.76s, total=8.76s, count=1, min=8756.3ms, max=8756.3ms + physics_step: mean=23.3ms, total=6.93s, count=297, min=18.7ms, max=39.1ms + save_batch_prep: mean=2.71s, total=2.71s, count=1, min=2706.4ms, max=2706.4ms + task_sampling: mean=477.2ms, total=2.39s, count=5, min=430.5ms, max=543.3ms + task_specific_sample: mean=474.3ms, total=2.37s, count=5, min=428.0ms, max=539.8ms + scene_randomize: mean=1.6ms, total=7.8ms, count=5, min=1.1ms, max=2.1ms + mj_forward_sync: mean=471.7us, total=2.4ms, count=5, min=0.4ms, max=0.5ms + policy_setup: mean=16.5us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:01:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:01:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:01:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:01:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:01:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:01:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:01:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:01:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:01:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:01:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171242m [env.py: 870] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:01:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 166.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -66.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -174.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 176.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=232.2ms, total=232.2ms [env.py: 1105] +05/18 15:01:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 15:01:47 ERROR: [Worker 0] Worker 0 house 1 episode 52 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 15:01:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:01:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:01:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:01:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:01:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:01:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:01:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:01:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:01:48 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 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166870m [env.py: 870] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:01:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31188992 -1.23210853 -0.1668702 ] yaw=-21.3deg [env.py: 1019] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -34.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.56151728 -0.88503594 -0.1668702 ] yaw=-57.5deg [env.py: 1019] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:01:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=242.7ms, total=242.8ms [env.py: 1075] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.312, -1.232, -0.167) [env.py: 1079] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.3 deg [env.py: 1082] +05/18 15:01:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/18 15:01:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:01:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:01:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:01:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:01:49 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/18 15:01:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s [base_object_manipulation_planner_policy.py: 377] +05/18 15:01:49 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 15:01:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:01:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:01:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.603s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:01:52 INFO: [Worker 0] Feasible grasp found 43 (originally 43): w/ 0.628[m] 90.484[deg] [grasp_sample.py: 596] +05/18 15:01:53 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:01:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:01:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:01:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:01:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:01:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:01:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:01:54 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 15:01:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:01:54 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 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171598m [env.py: 870] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:01:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -33.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 70.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.11892884 -1.16415445 -0.17159764] yaw=-18.7deg [env.py: 1019] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.53629558 -0.89993792 -0.17159764] yaw=-56.2deg [env.py: 1019] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:01:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=282.6ms, total=282.6ms [env.py: 1075] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.119, -1.164, -0.172) [env.py: 1079] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.7 deg [env.py: 1082] +05/18 15:01:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/18 15:01:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:01:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:01:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:01:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:01:55 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/18 15:01:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.116s [base_object_manipulation_planner_policy.py: 377] +05/18 15:01:55 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 15:01:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:01:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:02:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.995s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:02:00 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:02:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:02:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156892m [env.py: 870] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -160.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.16973442 -1.36443867 -0.15689182] yaw=-9.3deg [env.py: 1019] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 82.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.44625796 -0.98611769 -0.15689182] yaw=-81.9deg [env.py: 1019] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.32478297 -1.19839939 -0.15689182] yaw=-33.8deg [env.py: 1019] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:02:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=186.3ms, total=186.4ms [env.py: 1075] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.170, -1.364, -0.157) [env.py: 1079] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -9.3 deg [env.py: 1082] +05/18 15:02:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/18 15:02:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:02:01 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/18 15:02:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.124s [base_object_manipulation_planner_policy.py: 377] +05/18 15:02:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:02:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:02:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:02:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.341s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:02:07 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.744[m] 60.745[deg] [grasp_sample.py: 596] +05/18 15:02:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:02:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:02:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:02:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:03:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:03:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:03:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:03:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:03:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:03:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:03:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:04:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:04:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:04:02 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 15:04:18 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 15:04:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:04:19 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/18 15:04:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:04:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 15:04:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 11.34s (batch: 2.73s, save: 8.60s) [pipeline.py: 300] +05/18 15:04:30 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=1.51s: + episode_total: mean=39.98s, total=159.93s, count=4, min=242.8ms, max=149239.8ms + sensor_polling: mean=352.5ms, total=98.35s, count=279, min=336.7ms, max=442.7ms + save_trajectories: mean=8.60s, total=8.60s, count=1, min=8600.9ms, max=8600.9ms + physics_step: mean=22.7ms, total=6.33s, count=279, min=19.0ms, max=26.5ms + save_batch_prep: mean=2.73s, total=2.73s, count=1, min=2734.9ms, max=2734.9ms + task_specific_sample: mean=434.6ms, total=1.74s, count=4, min=237.9ms, max=551.6ms + task_sampling: mean=502.8ms, total=1.51s, count=3, min=460.9ms, max=554.3ms + task_sampling_failed: mean=242.8ms, total=242.8ms, count=1, min=242.8ms, max=242.8ms + scene_randomize: mean=1.4ms, total=5.8ms, count=4, min=1.1ms, max=2.3ms + mj_forward_sync: mean=503.0us, total=2.0ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=13.8us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:04:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:04:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:04:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:04:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:04:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:04:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:04:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:04:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:04:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:04:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140389m [env.py: 870] +05/18 15:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:04:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 52.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -118.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.33187884 -0.97769268 -0.14038868] yaw=-69.9deg [env.py: 1019] +05/18 15:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -77.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.64816223 -0.67877056 -0.14038868] yaw=-88.5deg [env.py: 1019] +05/18 15:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.29219451 -0.87126167 -0.14038868] yaw=-36.8deg [env.py: 1019] +05/18 15:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:04:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=210.4ms, total=210.4ms [env.py: 1075] +05/18 15:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.332, -0.978, -0.140) [env.py: 1079] +05/18 15:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.9 deg [env.py: 1082] +05/18 15:04:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/18 15:04:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:04:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:04:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:04:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:04:32 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/18 15:04:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s [base_object_manipulation_planner_policy.py: 377] +05/18 15:04:32 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 15:04:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:04:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.137s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:04:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.903s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:04:38 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.690[m] 101.511[deg] [grasp_sample.py: 596] +05/18 15:04:40 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:04:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:04:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:04:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:04:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:04:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:04:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:04:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:04:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:04:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:04:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104441m [env.py: 870] +05/18 15:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:04:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -140.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 33.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=275.5ms, total=275.5ms [env.py: 1105] +05/18 15:04:41 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 15:04:41 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 15:04:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:04:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:04:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:04:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:04:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:04:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:04:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:04:42 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 15:04:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:04:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102451m [env.py: 870] +05/18 15:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:04:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.34914964 -1.04170312 -0.10245081] yaw=-27.4deg [env.py: 1019] +05/18 15:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -15.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 6.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.22212351 -1.26901901 -0.10245081] yaw=-44.9deg [env.py: 1019] +05/18 15:04:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:04:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=283.6ms, total=283.6ms [env.py: 1075] +05/18 15:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.349, -1.042, -0.102) [env.py: 1079] +05/18 15:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.4 deg [env.py: 1082] +05/18 15:04:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.914m [env.py: 1086] +05/18 15:04:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:04:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:04:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:04:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:04:43 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/18 15:04:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 15:04:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:04:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:04:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:04:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.559s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:04:48 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.813[m] 75.459[deg] [grasp_sample.py: 596] +05/18 15:04:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:04:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:04:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:04:49 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 15:05:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:06:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:06:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:06:46 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 15:07:02 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 15:07:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:07:02 INFO: [Worker 0] Preparing episode data: 300 timesteps [save_utils.py: 278] +05/18 15:07:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:07:14 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 15:07:14 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 11.93s (batch: 2.75s, save: 9.18s) [pipeline.py: 300] +05/18 15:07:15 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=1.03s: + episode_total: mean=53.67s, total=161.02s, count=3, min=286.1ms, max=152511.2ms + sensor_polling: mean=345.3ms, total=103.25s, count=299, min=328.3ms, max=434.7ms + save_trajectories: mean=9.18s, total=9.18s, count=1, min=9184.2ms, max=9184.2ms + physics_step: mean=22.8ms, total=6.80s, count=299, min=19.1ms, max=25.9ms + save_batch_prep: mean=2.75s, total=2.75s, count=1, min=2745.7ms, max=2745.7ms + task_specific_sample: mean=435.7ms, total=1.31s, count=3, min=281.4ms, max=560.1ms + task_sampling: mean=516.0ms, total=1.03s, count=2, min=469.3ms, max=562.7ms + task_sampling_failed: mean=286.1ms, total=286.1ms, count=1, min=286.1ms, max=286.1ms + scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.2ms, max=2.5ms + mj_forward_sync: mean=531.9us, total=1.6ms, count=3, min=0.5ms, max=0.6ms + policy_setup: mean=13.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:07:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:07:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:07:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:07:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:07:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:07:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:07:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:07:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:07:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.132m, effective arm-mount z=0.728m (base_body_z=-0.132m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132214m [env.py: 870] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:07:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -37.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -103.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 38.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.38241424 -0.92132524 -0.13221403] yaw=-35.5deg [env.py: 1019] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:07:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=244.8ms, total=244.9ms [env.py: 1075] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.382, -0.921, -0.132) [env.py: 1079] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.5 deg [env.py: 1082] +05/18 15:07:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/18 15:07:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:07:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:07:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:07:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:07:16 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/18 15:07:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/18 15:07:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:07:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:07:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.095s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:07:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.702s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:07:27 INFO: [Worker 0] Feasible grasp found 253 (originally 253): w/ 0.678[m] 91.812[deg] [grasp_sample.py: 596] +05/18 15:07:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:07:28 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:07:28 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:07:28 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 15:08:17 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:08:24 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:08:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:09:09 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 15:09:25 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 15:09:25 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:09:25 INFO: [Worker 0] Preparing episode data: 272 timesteps [save_utils.py: 278] +05/18 15:09:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:09:35 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 15:09:35 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 10.54s (batch: 2.65s, save: 7.89s) [pipeline.py: 300] +05/18 15:09:36 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=0.50s: + episode_total: mean=139.76s, total=139.76s, count=1, min=139755.4ms, max=139755.4ms + sensor_polling: mean=343.9ms, total=93.19s, count=271, min=325.1ms, max=446.5ms + save_trajectories: mean=7.89s, total=7.89s, count=1, min=7887.4ms, max=7887.4ms + physics_step: mean=22.6ms, total=6.12s, count=271, min=16.3ms, max=26.3ms + save_batch_prep: mean=2.65s, total=2.65s, count=1, min=2648.5ms, max=2648.5ms + task_sampling: mean=497.7ms, total=497.7ms, count=1, min=497.7ms, max=497.7ms + task_specific_sample: mean=494.2ms, total=494.2ms, count=1, min=494.2ms, max=494.2ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=444.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=12.9us, 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 15:09:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:09:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:09:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:09:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:09:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:09:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:09:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:09:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:09:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:09:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:09:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144749m [env.py: 870] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:09:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49328099 -0.74867254 -0.14474923] yaw=-37.5deg [env.py: 1019] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 16.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.65309421 -0.78153956 -0.14474923] yaw=-60.1deg [env.py: 1019] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23642543 -1.34014726 -0.14474923] yaw=-9.5deg [env.py: 1019] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:09:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=206.2ms, total=206.2ms [env.py: 1075] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.493, -0.749, -0.145) [env.py: 1079] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.5 deg [env.py: 1082] +05/18 15:09:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.083m [env.py: 1086] +05/18 15:09:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:09:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:09:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:09:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:09:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:09:37 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/18 15:09:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/18 15:09:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:09:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:09:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.092s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:09:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.085s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:09:43 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:09:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:09:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:09:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:09:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:09:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:09:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:09:44 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 15:09:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:09:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197359m [env.py: 870] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:09:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -148.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -125.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.39136895 -0.79726826 -0.19735872] yaw=-75.6deg [env.py: 1019] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.50607788 -0.7548604 -0.19735872] yaw=-38.6deg [env.py: 1019] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:09:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=284.7ms, total=284.8ms [env.py: 1075] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -0.797, -0.197) [env.py: 1079] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.6 deg [env.py: 1082] +05/18 15:09:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m [env.py: 1086] +05/18 15:09:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:09:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:09:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:09:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:09:44 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/18 15:09:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 15:09:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:09:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:09:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:09:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.983s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:09:50 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:09:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:09:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:09:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:09:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:09:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:09:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:09:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:09:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:09:51 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 15:09:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:09:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.107799m [env.py: 870] +05/18 15:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:09:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.16330286 -1.0170734 -0.10779943] yaw=-49.3deg [env.py: 1019] +05/18 15:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -9.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -169.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -71.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:09:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=279.9ms, total=279.9ms [env.py: 1075] +05/18 15:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.163, -1.017, -0.108) [env.py: 1079] +05/18 15:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.3 deg [env.py: 1082] +05/18 15:09:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/18 15:09:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:09:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:09:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:09:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:09:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:09:51 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/18 15:09:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 15:09:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:09:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:09:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:09:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.068s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:09:57 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:09:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:09:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:09:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:09:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:09:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:09:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:09:58 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 15:09:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:09:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127501m [env.py: 870] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:09:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -100.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.90799928 -0.71464778 -0.12750063] yaw=-64.7deg [env.py: 1019] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -26.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.06580148 -1.27899773 -0.12750063] yaw=-4.6deg [env.py: 1019] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:09:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=274.7ms, total=274.8ms [env.py: 1075] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.908, -0.715, -0.128) [env.py: 1079] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.7 deg [env.py: 1082] +05/18 15:09:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/18 15:09:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:09:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:09:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:09:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:09:58 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/18 15:09:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/18 15:09:59 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 15:09:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:09:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:10:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.425s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:10:05 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.853[m] 102.623[deg] [grasp_sample.py: 596] +05/18 15:10:06 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:10:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:10:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:10:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:10:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:10:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:10:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:10:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:10:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:10:08 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 15:10:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:10:08 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 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132900m [env.py: 870] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:10:08 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -59.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.23684481 -1.12875842 -0.13290006] yaw=-49.8deg [env.py: 1019] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3316174 -1.14665036 -0.13290006] yaw=-17.9deg [env.py: 1019] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -57.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.02790993 -1.22835699 -0.13290006] yaw=-13.3deg [env.py: 1019] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:10:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=234.7ms, total=234.7ms [env.py: 1075] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.237, -1.129, -0.133) [env.py: 1079] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg [env.py: 1082] +05/18 15:10:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.933m [env.py: 1086] +05/18 15:10:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:10:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:10:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:10:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:10:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:10:08 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/18 15:10:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.097s [base_object_manipulation_planner_policy.py: 377] +05/18 15:10:08 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 15:10:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:10:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:10:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.580s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:10:23 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.577[m] 82.578[deg] [grasp_sample.py: 596] +05/18 15:10:24 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:10:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:10:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:10:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:10:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:10:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:10:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:10:25 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 15:10:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:10:25 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 15:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167619m [env.py: 870] +05/18 15:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:10:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.30151868 -1.23304626 -0.16761941] yaw=-18.8deg [env.py: 1019] +05/18 15:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 169.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -166.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -11.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:10:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=235.0ms, total=235.1ms [env.py: 1075] +05/18 15:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -1.233, -0.168) [env.py: 1079] +05/18 15:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -18.8 deg [env.py: 1082] +05/18 15:10:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/18 15:10:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:10:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:10:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:10:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:10:26 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/18 15:10:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 15:10:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:10:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:10:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.120s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:10:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.880s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:10:36 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.629[m] 52.152[deg] [grasp_sample.py: 596] +05/18 15:10:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:10:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:10:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:11:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:11:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:11:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:12:13 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 15:12:28 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/dresser/sim_chunks/chunk_055 [pipeline.py: 1174] +05/18 15:12:28 INFO: [Worker 0] Batching and saving trajectory data for chunk_055 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:12:28 INFO: [Worker 0] Preparing episode data: 260 timesteps [save_utils.py: 278] +05/18 15:12:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:12:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_055 [save_utils.py: 785] +05/18 15:12:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_055 in 10.26s (batch: 2.51s, save: 7.75s) [pipeline.py: 300] +05/18 15:12:38 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=3.11s: + episode_total: mean=29.26s, total=175.57s, count=6, min=5771.3ms, max=133152.1ms + sensor_polling: mean=343.7ms, total=89.01s, count=259, min=323.4ms, max=448.0ms + save_trajectories: mean=7.75s, total=7.75s, count=1, min=7750.2ms, max=7750.2ms + physics_step: mean=22.7ms, total=5.87s, count=259, min=19.4ms, max=27.6ms + task_sampling: mean=517.9ms, total=3.11s, count=6, min=465.4ms, max=562.8ms + task_specific_sample: mean=514.9ms, total=3.09s, count=6, min=462.0ms, max=558.9ms + save_batch_prep: mean=2.51s, total=2.51s, count=1, min=2505.3ms, max=2505.3ms + scene_randomize: mean=1.5ms, total=8.8ms, count=6, min=1.1ms, max=2.1ms + mj_forward_sync: mean=504.8us, total=3.0ms, count=6, min=0.4ms, max=0.6ms + policy_setup: mean=14.6us, total=0.1ms, 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 15:12:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:12:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:12:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:12:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:12:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:12:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:12:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:12:39 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 15:12:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:12:39 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 15:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144193m [env.py: 870] +05/18 15:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:12:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -45.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:12:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:12:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=235.5ms, total=235.6ms [env.py: 1105] +05/18 15:12:40 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 15:12:40 ERROR: [Worker 0] Worker 0 house 1 episode 66 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 15:12:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:12:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:12:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:12:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:12:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:12:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:12:41 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119021m [env.py: 870] +05/18 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:12:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19892403 -1.38666317 -0.11902094] yaw=-38.4deg [env.py: 1019] +05/18 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:12:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.8ms, total=236.9ms [env.py: 1075] +05/18 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.199, -1.387, -0.119) [env.py: 1079] +05/18 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.4 deg [env.py: 1082] +05/18 15:12:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.826m [env.py: 1086] +05/18 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:12:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:12:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:12:41 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/18 15:12:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s [base_object_manipulation_planner_policy.py: 377] +05/18 15:12:41 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 15:12:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:12:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.092s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:12:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.531s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:12:46 INFO: [Worker 0] Feasible grasp found 150 (originally 150): w/ 0.755[m] 114.258[deg] [grasp_sample.py: 596] +05/18 15:12:47 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:12:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:12:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:12:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:12:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:12:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:12:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:12:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:12:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:12:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101197m [env.py: 870] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:12:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.74597999 -0.79065458 -0.10119734] yaw=-55.8deg [env.py: 1019] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14578908 -1.08561644 -0.10119734] yaw=-65.5deg [env.py: 1019] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.2452176 -1.32263674 -0.10119734] yaw=-19.5deg [env.py: 1019] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:12:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=136.4ms, total=136.4ms [env.py: 1075] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.746, -0.791, -0.101) [env.py: 1079] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.8 deg [env.py: 1082] +05/18 15:12:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/18 15:12:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:12:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:12:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:12:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:12:49 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/18 15:12:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 15:12:49 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 15:12:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:12:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:12:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.541s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:12:58 INFO: [Worker 0] Feasible grasp found 551 (originally 244): w/ 0.694[m] 116.380[deg] [grasp_sample.py: 596] +05/18 15:12:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:12:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:12:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:12:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:13:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:41 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:13:41 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:13:41 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 15:13:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:13:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:13:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.651s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:13:45 INFO: [Worker 0] Feasible grasp found 551 (originally 244): w/ 0.348[m] 48.496[deg] [grasp_sample.py: 596] +05/18 15:13:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:13:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:13:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:13:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:13:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:13:57 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 15:13:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:13:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:14:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.743s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:14:01 INFO: [Worker 0] Feasible grasp found 551 (originally 244): w/ 0.348[m] 48.499[deg] [grasp_sample.py: 596] +05/18 15:14:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:14:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:14:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:14:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:14:13 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 15:14:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:14:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:14:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.548s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:14:16 INFO: [Worker 0] Feasible grasp found 551 (originally 244): w/ 0.348[m] 48.499[deg] [grasp_sample.py: 596] +05/18 15:14:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:14:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:14:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:14:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 15:14:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 15:14:28 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 15:14:28 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 15:14:28 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=False episode_total=0.90s: + episode_total: mean=35.57s, total=106.70s, count=3, min=245.9ms, max=99673.7ms + sensor_polling: mean=342.4ms, total=41.09s, count=120, min=319.5ms, max=385.8ms + physics_step: mean=19.9ms, total=2.39s, count=120, min=14.4ms, max=25.8ms + task_specific_sample: mean=378.8ms, total=1.14s, count=3, min=241.1ms, max=487.4ms + task_sampling: mean=450.3ms, total=900.5ms, count=2, min=410.6ms, max=489.9ms + task_sampling_failed: mean=245.8ms, total=245.8ms, count=1, min=245.8ms, max=245.8ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=1.1ms, max=2.1ms + mj_forward_sync: mean=495.0us, total=1.5ms, count=3, min=0.4ms, max=0.6ms + policy_setup: mean=14.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:14:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:14:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:14:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:14:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:14:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:14:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:14:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:14:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:14:30 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 15:14:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:14:30 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 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124310m [env.py: 870] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:14:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.73901192 -0.76738777 -0.12430984] yaw=-95.9deg [env.py: 1019] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -15.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.49576363 -0.8634105 -0.12430984] yaw=-33.8deg [env.py: 1019] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:14:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.4ms, total=239.5ms [env.py: 1075] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.739, -0.767, -0.124) [env.py: 1079] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.9 deg [env.py: 1082] +05/18 15:14:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.986m [env.py: 1086] +05/18 15:14:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:14:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:14:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:14:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:14:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:14:30 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/18 15:14:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/18 15:14:30 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 15:14:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:14:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.092s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:14:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.479s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:14:38 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.751[m] 121.339[deg] [grasp_sample.py: 596] +05/18 15:14:39 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:14:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:14:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:14:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:14:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:14:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:14:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:14:40 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 15:14:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:14:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122080m [env.py: 870] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:14:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -55.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -105.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -85.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -115.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.06787155 -1.11842913 -0.12207962] yaw=-49.9deg [env.py: 1019] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:14:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=238.9ms, total=239.0ms [env.py: 1075] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.068, -1.118, -0.122) [env.py: 1079] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.9 deg [env.py: 1082] +05/18 15:14:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.074m [env.py: 1086] +05/18 15:14:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:14:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:14:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:14:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:14:41 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/18 15:14:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 15:14:41 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 15:14:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:14:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.096s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:14:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.503s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:14:46 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:14:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:14:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:14:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:14:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:14:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:14:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:14:48 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 15:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133667m [env.py: 870] +05/18 15:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:14:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -77.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -82.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.08412167 -1.29890853 -0.13366673] yaw=-45.6deg [env.py: 1019] +05/18 15:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:14:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=278.9ms, total=278.9ms [env.py: 1075] +05/18 15:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.084, -1.299, -0.134) [env.py: 1079] +05/18 15:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.6 deg [env.py: 1082] +05/18 15:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/18 15:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:14:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:14:48 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/18 15:14:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 15:14:48 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 15:14:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:14:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:14:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.672s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:14:54 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:14:55 WARNING: [Worker 0] No trajectory data to save for chunk_055 [pipeline.py: 234] +05/18 15:14:55 WARNING: [Worker 0] No trajectory data to save for chunk_055 [pipeline.py: 234] +05/18 15:14:55 INFO: [Worker 0] Worker 0 completed house 1: 18/20 successful episodes [pipeline.py: 1323] +05/18 15:14:55 INFO: [Worker 0] [PROFILE] House 1 complete: 18/20 successful, 20 episodes, total_time=5640.58s + House averages: + episode_total: mean=46.16s, total=3323.50s, count=72, min=242.8ms, max=161088.5ms + sensor_polling: mean=349.7ms, total=1897.17s, count=5425, min=319.2ms, max=471.9ms + save_trajectories: mean=8.54s, total=153.66s, count=18, min=7750.2ms, max=9243.7ms + physics_step: mean=22.7ms, total=123.27s, count=5425, min=14.4ms, max=39.1ms + save_batch_prep: mean=2.64s, total=47.48s, count=18, min=2505.3ms, max=2745.7ms + task_sampling: mean=621.7ms, total=41.03s, count=66, min=373.9ms, max=8391.8ms + task_specific_sample: mean=480.0ms, total=34.56s, count=72, min=237.9ms, max=565.2ms + scene_load: mean=7.83s, total=7.83s, count=1, min=7832.4ms, max=7832.4ms + scene_env_create: mean=5.25s, total=5.25s, count=1, min=5247.0ms, max=5247.0ms + scene_compile: mean=2.32s, total=2.32s, count=1, min=2320.5ms, max=2320.5ms + task_sampling_failed: mean=264.0ms, total=1.58s, count=6, min=242.8ms, max=286.1ms + compile_mujoco: mean=1.52s, total=1.52s, count=1, min=1516.4ms, max=1516.4ms + compile_xml_load: mean=698.2ms, total=698.2ms, count=1, min=698.2ms, max=698.2ms + scene_asset_install: mean=141.0ms, total=141.0ms, count=1, min=141.0ms, max=141.0ms + scene_init: mean=123.7ms, total=123.7ms, count=1, min=123.7ms, max=123.7ms + scene_randomize: mean=1.5ms, total=109.2ms, count=72, min=1.1ms, max=2.5ms + asset_install_objects: mean=70.1ms, total=70.1ms, count=1, min=70.1ms, max=70.1ms + asset_install_grasps: mean=64.8ms, total=64.8ms, count=1, min=64.8ms, max=64.8ms + compile_aux_objects: mean=59.0ms, total=59.0ms, count=1, min=59.0ms, max=59.0ms + compile_aux_policy_objects: mean=59.0ms, total=59.0ms, count=1, min=59.0ms, max=59.0ms + compile_robot_add: mean=37.3ms, total=37.3ms, count=1, min=37.3ms, max=37.3ms + mj_forward_sync: mean=492.8us, total=35.5ms, count=72, min=0.4ms, max=0.7ms + asset_install_scene: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms + policy_setup: mean=14.9us, total=1.0ms, count=66, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/18 15:14:55 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/18 15:14:55 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 20 episodes, total_time=5640.58s + Worker averages: + episode_total: mean=46.16s, total=3323.50s, count=72, min=242.8ms, max=161088.5ms + sensor_polling: mean=349.7ms, total=1897.17s, count=5425, min=319.2ms, max=471.9ms + save_trajectories: mean=8.54s, total=153.66s, count=18, min=7750.2ms, max=9243.7ms + physics_step: mean=22.7ms, total=123.27s, count=5425, min=14.4ms, max=39.1ms + save_batch_prep: mean=2.64s, total=47.48s, count=18, min=2505.3ms, max=2745.7ms + task_sampling: mean=621.7ms, total=41.03s, count=66, min=373.9ms, max=8391.8ms + task_specific_sample: mean=480.0ms, total=34.56s, count=72, min=237.9ms, max=565.2ms + scene_load: mean=7.83s, total=7.83s, count=1, min=7832.4ms, max=7832.4ms + scene_env_create: mean=5.25s, total=5.25s, count=1, min=5247.0ms, max=5247.0ms + scene_compile: mean=2.32s, total=2.32s, count=1, min=2320.5ms, max=2320.5ms + task_sampling_failed: mean=264.0ms, total=1.58s, count=6, min=242.8ms, max=286.1ms + compile_mujoco: mean=1.52s, total=1.52s, count=1, min=1516.4ms, max=1516.4ms + compile_xml_load: mean=698.2ms, total=698.2ms, count=1, min=698.2ms, max=698.2ms + scene_asset_install: mean=141.0ms, total=141.0ms, count=1, min=141.0ms, max=141.0ms + scene_init: mean=123.7ms, total=123.7ms, count=1, min=123.7ms, max=123.7ms + scene_randomize: mean=1.5ms, total=109.2ms, count=72, min=1.1ms, max=2.5ms + asset_install_objects: mean=70.1ms, total=70.1ms, count=1, min=70.1ms, max=70.1ms + asset_install_grasps: mean=64.8ms, total=64.8ms, count=1, min=64.8ms, max=64.8ms + compile_aux_objects: mean=59.0ms, total=59.0ms, count=1, min=59.0ms, max=59.0ms + compile_aux_policy_objects: mean=59.0ms, total=59.0ms, count=1, min=59.0ms, max=59.0ms + compile_robot_add: mean=37.3ms, total=37.3ms, count=1, min=37.3ms, max=37.3ms + mj_forward_sync: mean=492.8us, total=35.5ms, count=72, min=0.4ms, max=0.7ms + asset_install_scene: mean=6.0ms, total=6.0ms, count=1, min=6.0ms, max=6.0ms + policy_setup: mean=14.9us, total=1.0ms, count=66, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/18 15:14:58 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/18 15:14:58 INFO: Success count: 18, Total count: 20 [pipeline.py: 1491] +05/18 15:14:58 INFO: Success rate: 90.00% [pipeline.py: 1492] diff --git a/dresser/sim/chunk_055/trajectories_batch_1_of_1_cam_rand.h5 b/dresser/sim/chunk_055/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..609f24477a4c1702b1a5a233082b6cc72bac8a48 --- /dev/null +++ b/dresser/sim/chunk_055/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05888d6ce87b922e79849d0d21e4b68d956dafa64673ed6d67d88bc7b785f69a +size 1295184081