diff --git a/dresser/sim/chunk_026/chunk_log.txt b/dresser/sim/chunk_026/chunk_log.txt new file mode 100644 index 0000000000000000000000000000000000000000..5bcbbf3cc2f2ec89441d8c472823594755e1b866 --- /dev/null +++ b/dresser/sim/chunk_026/chunk_log.txt @@ -0,0 +1,5 @@ +chunk_pad: 026 +node: iliad5 +salvaged: 2026-05-18T15:05:01-07:00 +ntraj: 17 +note: rescued after stale-FD bash failure; sim data intact on /scr. diff --git a/dresser/sim/chunk_026/episode_00000000_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000000_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..55c328dfb3fd8c050247728f089def94bf0de527 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000000_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e53d0dea8b850f0bf6818235e48f311de02295e2fea7f7f3e06316d9358a491 +size 404667 diff --git a/dresser/sim/chunk_026/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dc9e562c5980e291fd683e7f982a26810d81a474 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000000_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a25ee0cfd83c8b95b2238c05bc272eaa845a5eb1df23ce944eb18cafdefa95b9 +size 328652 diff --git a/dresser/sim/chunk_026/episode_00000000_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000000_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7c74be1ddb6eaf590e83af1ef5c2825e689163c6 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000000_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee07169f7fbe71ba6880720000bbd386e3d9a51c73994c67274fb2beb20bcca2 +size 520650 diff --git a/dresser/sim/chunk_026/episode_00000000_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000000_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e2d0508130d5748e075e1ce71730d4edf0e57549 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000000_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bd82777936d93ee20994f9dbe46978120e50b3e5e7c2046066b0845be40e22f +size 1153009 diff --git a/dresser/sim/chunk_026/episode_00000000_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000000_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ca264620cc84e390dd08fa4448f41c87d4d6f103 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000000_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e4fb99f8f872da3196022ab0b64da0e863f9f74c38c0bfc2bf2ec163947a32b +size 195034 diff --git a/dresser/sim/chunk_026/episode_00000000_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000000_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..148acc243584f0a4262e9e6fb4708d0c05feca94 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000000_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75dad0a39d57cb7597d10f978e6fa7ae606f1579ae469658703a781468f5ae87 +size 772642 diff --git a/dresser/sim/chunk_026/episode_00000001_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000001_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..30fe9fd3145f4ab12e2cd76a6cb02765692132b0 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000001_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74af932fb48edb98fd739b1206a6499cf45d792aca2b32250b3bde047f87d09e +size 568233 diff --git a/dresser/sim/chunk_026/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a997181a81038fdf879e6d1de10e950e5346282f --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000001_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c05476f377dd1dce0e9862039092f8dc49806d2f09c1199467e723e8586b2f0d +size 488290 diff --git a/dresser/sim/chunk_026/episode_00000001_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000001_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ea5d2c4f1115ab6cda690bd88bb6b7f4405d94b0 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000001_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e23fec088193e338186bef4887d5150b19d180ad65411973b6ef265e02920cfd +size 558183 diff --git a/dresser/sim/chunk_026/episode_00000001_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000001_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..28ba9f4f4117b182640035470477b10beff9e82e --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000001_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:626d0c0bfd21e7feade76019249aab9cf19044a410211756418f9bdc86dbdb02 +size 582907 diff --git a/dresser/sim/chunk_026/episode_00000001_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000001_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4e0aa43b7972cbc385abfab4b18fd526e6c86dd4 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000001_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5948a3a2acf9151acb5bd07db7a9ca90705ec8c1a4c1a82c8d93d926c436e3e3 +size 92938 diff --git a/dresser/sim/chunk_026/episode_00000001_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000001_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0ec09e4f0479cafc1e1a1fed3a02ce6eb8ce5622 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000001_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b161da1e2d560499c5d30f92f4a8e44bc1bdde4e22dfc82d6e858bbc47618e2d +size 486184 diff --git a/dresser/sim/chunk_026/episode_00000002_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000002_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0bb039ec4f295f3f5c25183c90ddaae563069c2d --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000002_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:372506ba80006a52c533fe07cb9578b5fb8d0f735b26a8d17e0588f9287b89e6 +size 404397 diff --git a/dresser/sim/chunk_026/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c0c8f3639281f7f4e3f036ef1802ef4db67e6a78 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000002_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2dff2ff8f996b97d145d707f80f3ab8e76f084adf508af7479b4f679ed4d20a7 +size 344634 diff --git a/dresser/sim/chunk_026/episode_00000002_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000002_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..56876b38955107f8c5ed9405816222bad5bdc3db --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000002_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:114e676b0472cdb663c23f8d9d1d3b766967f43a572fa40e0d672fb82be781b4 +size 486247 diff --git a/dresser/sim/chunk_026/episode_00000002_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000002_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..de43ca3636c04e4112ca710d063d2e255ffce126 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000002_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2446bad0fada07aa935df5ff06e9f29b12d6dc104c3d2fa48b67ad0fe3e0966 +size 676827 diff --git a/dresser/sim/chunk_026/episode_00000002_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000002_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1e833badb7627daf7d2801c9d3b7f695de5b42b1 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000002_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c9951b2e2d3460086ff03241d50355eac805a8d2126e2a7d648399c294dc20e +size 129413 diff --git a/dresser/sim/chunk_026/episode_00000002_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000002_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..98a5c44db6979944db82db785a38103df7e726a5 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000002_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21309b4b1b6027d5bc78114f1ee53990eccdf3a0114b85142800b09ddfb58648 +size 563539 diff --git a/dresser/sim/chunk_026/episode_00000003_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000003_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..61ec64fb47b1cb552ea13ee000e7c0fb9af9e441 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000003_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c26c79ead93b7b4f537b80f98e06d73068cc79543f8ebffbd86cbaca588fb7ec +size 406320 diff --git a/dresser/sim/chunk_026/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2b7cb33ccebc0de61f110a0609ff062f1eb184e9 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000003_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1576cc2cf820556f34668acd0740b925d75e91a9dfe90cc854242cf3dc367ba5 +size 322515 diff --git a/dresser/sim/chunk_026/episode_00000003_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000003_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a382a2e9a666ca7ff2a51eb30f02ff44fde9e801 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000003_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ae74d77b71e82445c42bbb2e3ea0fffe55d7d4e04e2cfb6051f0fc112064b4b +size 454828 diff --git a/dresser/sim/chunk_026/episode_00000003_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000003_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2a901e116893e9908c7464c8d816483bc8dc3fac --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000003_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fdf7cd5db4265770f919ff3ec8bbed80678448d00aaa95746a4893eb046997e +size 1209548 diff --git a/dresser/sim/chunk_026/episode_00000003_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000003_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..968ad7e3b8823b33288c86bf083789444dc01aa2 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000003_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18ffe89670df9588889df5dc1b5c8acc3afe80033e415e5d714400448a272e6d +size 610351 diff --git a/dresser/sim/chunk_026/episode_00000003_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000003_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2c7c09ee63a6a8bc991ac75e3bdc12ec75d6c46e --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000003_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56ad556b59e4bcac5511c313e4b8371aba958b12b94d58889fee67e401dbc37e +size 884864 diff --git a/dresser/sim/chunk_026/episode_00000004_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000004_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8f638ac1a2930279210443815c92b9f6a72c3048 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000004_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1954f84645656baf13a9432b732e495ad84e606f9f9e128f6985f8a150f79dc +size 479130 diff --git a/dresser/sim/chunk_026/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e738fdfe27674dd24ce2172849bf8bc25cbe5059 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000004_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:361fffe50dd2a54bada537d8c9a7f45b9d7fc89e499d871101687b6ba49595a6 +size 399232 diff --git a/dresser/sim/chunk_026/episode_00000004_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000004_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d763c93cd14a2dd063708ada60be0a03aa743fee --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000004_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e6ff2be798b516071225724c50ed2ad2d98ab4af26f8575733a9e116e73b239 +size 585348 diff --git a/dresser/sim/chunk_026/episode_00000004_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000004_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..74e509704fdbfdbac5a364c3eea1e47152a0b839 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000004_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c7bd41348057e40cf18244b77a7f97b927ed742fd617d9586fcc7fafb43e48d +size 804851 diff --git a/dresser/sim/chunk_026/episode_00000004_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000004_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c76d044810d700ef6e8134b9cd0b047de1b9710a --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000004_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f704454c4776223da748e0874a91749874d54f28dead9e7d1cb9eec4d80c1538 +size 131067 diff --git a/dresser/sim/chunk_026/episode_00000004_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000004_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1befc7ea041f22eb43c187bc02a81da059510c9c --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000004_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f02a8eabfaf716702e1434ada78e05030a3ade4eabde0f57496f198aab9b2450 +size 728518 diff --git a/dresser/sim/chunk_026/episode_00000005_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000005_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7d21aa43f483c464189eb622e41293ad03b32e02 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000005_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4626b2d2c1c7fec25c90bf40b913d236c519d2e807d7c6496a4e390bb94c7ca6 +size 651341 diff --git a/dresser/sim/chunk_026/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..789a86fe34bb3061aedaba5ce610173a99772fd9 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000005_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:294d0c842ffc4066e6eebd7314682afeb55d19c2234ac376e6c96bdd698b4394 +size 567090 diff --git a/dresser/sim/chunk_026/episode_00000005_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000005_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8f797d5784bc54b70c8bd887551c88ce13860a12 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000005_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70475876e8aee33a7adfcec5d8cd20237ce9a489af026462991f652420debd92 +size 660448 diff --git a/dresser/sim/chunk_026/episode_00000005_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000005_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..43d80736db8fcb38751c7ca581021cadd7c2fc64 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000005_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa828dc497ca67e4095be3d5388a578cab9394246eb59460d76eda6d32173b96 +size 967653 diff --git a/dresser/sim/chunk_026/episode_00000005_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000005_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b908832dbaa55664b1bcd7a878d5d1b3b73f5208 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000005_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:424e1ab59ad7c4030885990b8e2d37a1deca68a869cdeba7cc4cda026fffab22 +size 199192 diff --git a/dresser/sim/chunk_026/episode_00000005_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000005_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..915b9478e24f183594279cdf6e79c0bf2e3f773a --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000005_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a6e411699b59c26d32ce11bd2aa1f916f7ac740032cb9b9634243dac3664c00 +size 758069 diff --git a/dresser/sim/chunk_026/episode_00000006_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000006_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6746eab4a046aa8975db5ccc58b9c30148f01223 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000006_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29eee3361206c70e131e02180097bfdebeab3a1945bf3eb6f09e4413afd69e58 +size 629293 diff --git a/dresser/sim/chunk_026/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..25be4cb85dbb27ad58425cba28fb8d1da4caed70 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000006_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:496907537a637f9abd29259bcb8ca6cfd5985086a3686032444034d95ade29cf +size 532074 diff --git a/dresser/sim/chunk_026/episode_00000006_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000006_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e7774d3432e4975f50baa3b59c4eea3ed60f0af8 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000006_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10d807b49a465939af396ea2f6d0e15605a20d5795d972f0075f31e3ec453061 +size 593562 diff --git a/dresser/sim/chunk_026/episode_00000006_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000006_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9816682bb966185ad3deffb36e8838c8b69cabd3 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000006_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37398e280ba2355288758970fd879dc3e129c465de8473e9b6b8cfab70c9d08e +size 600643 diff --git a/dresser/sim/chunk_026/episode_00000006_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000006_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f90ac2d5e283eea1e57efa7c099ce036a0639a7a --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000006_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e4f34814052c3f7daaedd2e74de102dfa4ce7d1b653daf8600f0b922fc1dd9c +size 94918 diff --git a/dresser/sim/chunk_026/episode_00000006_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000006_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..347293e39e25cecd7eca2e728f26692d6ed6d0fd --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000006_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c9800d621968390517302a9695391a0c01c0f6739ef6dac9d389f843b02fd0d +size 550874 diff --git a/dresser/sim/chunk_026/episode_00000007_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000007_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e010c8349f6e06ff6e480a36b6717584f1c43a75 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000007_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f77284bc13066544279d28d934df8799280e67f07d9facd8ccd9e156aca4b9d +size 655224 diff --git a/dresser/sim/chunk_026/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0d4f958b0cb249a829c4fea9868f9848bff2582e --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000007_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dc036a42e62deb3363ac5d7fce32b479258275a5c4954d79eb056502ed83984 +size 545780 diff --git a/dresser/sim/chunk_026/episode_00000007_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000007_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..af172486f2eb11cf1739c56eaf369cdd94bb6a03 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000007_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4c34cc04f917c2bf51a025fc926ecb9ed1947511bb550fb0f36e23b4b1b7e6b +size 752208 diff --git a/dresser/sim/chunk_026/episode_00000007_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000007_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..857e6fec27902d5ec9eae1617a291b340101b240 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000007_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7485b2a139c9e6626493527e3d071f426bd3fdba037b6041111b3ae6f401ad75 +size 1878256 diff --git a/dresser/sim/chunk_026/episode_00000007_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000007_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c63e938614510ce69d30251299b39113899a0ead --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000007_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddb3fae2320bc1b22ece844fd9c4848682017d46af5addc37eee11ab48c7938e +size 373013 diff --git a/dresser/sim/chunk_026/episode_00000007_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000007_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3d5b6b49c854a57a3b609ab337c54ea850fdef2e --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000007_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b58d73b661128bf890a9edaae5a90f284ba49f11b1be20a9b4514932b5bbdda +size 796569 diff --git a/dresser/sim/chunk_026/episode_00000008_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000008_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..677eada3f906d0f7348b4e12868f6e2652425961 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000008_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad2e4d5e22e8d0cf26eccf9259a1c2660053efd9459ceedc7a130435e4754219 +size 550235 diff --git a/dresser/sim/chunk_026/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cde4b0deeba3593452f695685fe9ca4bdfdca409 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000008_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d9ab5ad8b7f62ebd0929d89c12dc9b0580fbab32893e87b5b666f8b50cfeb13 +size 477302 diff --git a/dresser/sim/chunk_026/episode_00000008_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000008_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..efba353f04cbebc95b5bfda1ee2984effdb9c382 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000008_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dc6b20353aee4ff9186223ae8a723aab5731324506261b23db1fe4ce487bf63 +size 647995 diff --git a/dresser/sim/chunk_026/episode_00000008_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000008_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..69947fd43cd0773d5c2c0d5fcd17881a2c4d2808 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000008_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e464481da55ac4758c7195107743a16a1bc50ea62bfbf984ce893385aedfd62f +size 1639003 diff --git a/dresser/sim/chunk_026/episode_00000008_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000008_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1099208ea925677a4b6b257527581bec5483a4bd --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000008_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:def8eea0df9ea8b5c4eb85bb72f2e69ca7e46f767c6ea9ca58c45eb08d75a1d8 +size 305296 diff --git a/dresser/sim/chunk_026/episode_00000008_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000008_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e3acde1a97b3b6717b81e35c23ee2902ee70edb6 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000008_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42353f2cd10ef2f9ca1e81fb521deed8de7512c0d97c1ac83b34996aa83bf40f +size 753344 diff --git a/dresser/sim/chunk_026/episode_00000009_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000009_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c3853ea05a30537fc0d67c073d819678926d0575 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000009_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82fac5adbf820e6bc0e729dda48bc96577de5bc3a93c4cd9df1673c0c8da9417 +size 501350 diff --git a/dresser/sim/chunk_026/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1baf386dc5c08b31773d043137e74b382458f1f5 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000009_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:646cab1e14a222e3eb3ee1c8a7c7fd943f92cae31436ea4a38ac10535b32e58e +size 428527 diff --git a/dresser/sim/chunk_026/episode_00000009_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000009_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..998fea9538d783313ab90b153c5b81938317e8c4 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000009_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a7bf3f0d50406a81afd3fae5e61ed848f89068dc5fc970a336caadb1488d350 +size 520639 diff --git a/dresser/sim/chunk_026/episode_00000009_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000009_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5c1823946d1631a26f0e2ce705757c61d5413f7f --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000009_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc2a28d34ba89055d0de636a2a8dca01fc800ddfe90cdc845400820626f0adea +size 753798 diff --git a/dresser/sim/chunk_026/episode_00000009_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000009_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..32a88afd4de6aceb6deedb13c43bb813abfc2679 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000009_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7323eeba8c8a8927a5d5d105fd0621694aecd404dfcb05640c851f86799fc824 +size 111312 diff --git a/dresser/sim/chunk_026/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0e00ec2c3637227770b8606a08b7e45632d1570c --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000009_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cbbd281d64721c3cc84a5a91fd8ad6602306238a464b49a5325d26908938040 +size 596653 diff --git a/dresser/sim/chunk_026/episode_00000010_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000010_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..15341f12085381cec21910b0b1604f0c95cfceb0 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000010_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8776d945245a2aeb58b9c93d089c6f04b2bcc7e2812af55313b67704dedba57f +size 650068 diff --git a/dresser/sim/chunk_026/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..536c894c09d0c53aef2f93c732d61c2163dd4149 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000010_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e0485776ba662ebe9a837c4eb9b0819265156542134272c52ea3e49cea59581 +size 545076 diff --git a/dresser/sim/chunk_026/episode_00000010_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000010_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1e2fe787c2567d357e9dd6ee221d7f40b6df210f --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000010_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98b771d8fbade2480ddd466ab4b9e2db226198cdaa7106733d59bcd114ce2219 +size 717978 diff --git a/dresser/sim/chunk_026/episode_00000010_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000010_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f5a88dd01c68e8f4510a237d9b8240630cf6b117 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000010_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:719a4cca4107ff1e72f80ef2bbd963a4869cf2bb9488e08d9817e71d7d6fc27c +size 1351387 diff --git a/dresser/sim/chunk_026/episode_00000010_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000010_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8cbe67aedc7b3a0600d6af955e241f220111824a --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000010_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5aed7480177779098155f6d0e202426de7b60c69379e7456d08af1eb37251321 +size 223093 diff --git a/dresser/sim/chunk_026/episode_00000010_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000010_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..63ada74f3cecd221e127b00b8f56e0d9d6a2bf44 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000010_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c57ceee0c2e8491f0b46b50c419e7d72e4e00f10f1b6a583fb937913a0868bf4 +size 886532 diff --git a/dresser/sim/chunk_026/episode_00000011_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000011_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..183a649d3ca962406878acf6b5a5006d98cf68d3 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000011_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dde37caebf3a01798f4cbade894ceb81c66b4508917e321f61f8628431234bdb +size 516338 diff --git a/dresser/sim/chunk_026/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..073ab235d76ac78133c377626404da460eac57f5 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000011_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ce57c8010b98685246e973679b24efd98352ae8cbb36e666438e74187b1b1e1 +size 456576 diff --git a/dresser/sim/chunk_026/episode_00000011_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000011_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c78c0d9b41b543afe7ca7ed176526d7ef4c49079 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000011_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c0a955cc420bea44857aa4769bb3034f89d3756313d6f9212d8c924d002f0d0 +size 540287 diff --git a/dresser/sim/chunk_026/episode_00000011_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000011_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4fc8d41aaae4a6ed40a06cf929ecf544be28d6b3 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000011_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0a38903f42d45e67acab2b221966f354ad72713acb70df5a70d85b3f1492bc6 +size 773296 diff --git a/dresser/sim/chunk_026/episode_00000011_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000011_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cca0b01ad08a36a8fb9d2d07783d8c06922dfdd6 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000011_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b7bdb6f3632734feb0f5cc24dfe92f41ed82096ad3818778f1006c24c3aa0f0 +size 108073 diff --git a/dresser/sim/chunk_026/episode_00000011_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000011_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..04a94fd730c797a2d9374846d83762d38fbe37e2 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000011_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ea2c525c2f8b6b27a732258db3a0a095837d0003e0099d07a8f408d354fec91 +size 559186 diff --git a/dresser/sim/chunk_026/episode_00000012_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000012_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..54c4a999b474945064185c9f5f6bfd8894eca626 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000012_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00b3f7487ac3e956d0dc547864835f9633c2bfd2d0ace6fc09b353f68bc678a2 +size 689607 diff --git a/dresser/sim/chunk_026/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..83c028159f868562c9799e95632014efe4c13013 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000012_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98fe0e9c1945fd533fd5266d21fb7c54abd978fcb701751a16757f11ac3f36d0 +size 578595 diff --git a/dresser/sim/chunk_026/episode_00000012_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000012_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9086929373532e57e952067be0a379923230342e --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000012_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9944f7a72719f44eb6bb9a3e2587ff525b5beec2b8c362595fc474a3513d098c +size 621028 diff --git a/dresser/sim/chunk_026/episode_00000012_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000012_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3d3151b33bb9077d5560a256c29a60251a610a04 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000012_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:879c0bd9cb30032cc4003ea0eab158fc91c7032f5fd91cad97a0ccf029711dcb +size 649510 diff --git a/dresser/sim/chunk_026/episode_00000012_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000012_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1442e282dcbc334ab942f48baf07295a34199227 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000012_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b7b5f38644559c9803ec724ed6689c6c85b1d986715316ed06465523625ce02 +size 104156 diff --git a/dresser/sim/chunk_026/episode_00000012_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000012_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..79811f496ac126dc89a19c6db957e08c0284f9bb --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000012_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ab262fbb2bfcf4c0a7ba1a4744b323150f3bb81550b6209b39faa43edfbbcbb +size 655009 diff --git a/dresser/sim/chunk_026/episode_00000013_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000013_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..255b1e9f79a01748f8b4f22ec04f10d773451c7e --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000013_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80025a92961ea83a7d5969ab0873a09c28abfd9cf3457855d52f2d78664dcc4f +size 420089 diff --git a/dresser/sim/chunk_026/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2899f1f8e70a6e4e7237ec6801b9c840cb0edf59 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000013_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6a0556988d953289901298b39f0a7f18c900c1998a6467bcccaae5391b945ac +size 371284 diff --git a/dresser/sim/chunk_026/episode_00000013_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000013_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..85a5ce7df57e7e3e028ae9a9b173c203af8c9dac --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000013_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91092666ca85df494e6bf8be0c179aff7dccb862132c6459c9ae4b4efa6b2c1d +size 532064 diff --git a/dresser/sim/chunk_026/episode_00000013_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000013_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f40d2571255de8ff989f42247760ec2d83afc27a --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000013_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e017dfa91ec48443add8a84246b1660acfc40be179170b8a3455a297d8ecfd1 +size 623279 diff --git a/dresser/sim/chunk_026/episode_00000013_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000013_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f3f6193095464d96981ab6b2208bbdd4431949bf --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000013_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5016b4c657c5f5458618291d1c2cb482d7bdd5f6c45d78c811671ba41eeeb287 +size 102118 diff --git a/dresser/sim/chunk_026/episode_00000013_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000013_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a7c40528fa876028d86d3ab111c8b396606a3f23 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000013_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56c527f4a938f9af84bae3294cb31b264a442ed70893c787bdf517b6dadf7fec +size 534975 diff --git a/dresser/sim/chunk_026/episode_00000014_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000014_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..deb70de09cda6b40839c1c34d1b3dd9ea8fea425 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000014_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3c7b82a4505934765d1f37c345ee90de139f3eab01a6604a5cdd2822a234d3d +size 651198 diff --git a/dresser/sim/chunk_026/episode_00000014_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000014_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a72890b49a714abdfc6fa2836c5c2c8ffe08bc16 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000014_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68f1f9e91e49af8d0ef27406990f867c06a4b279f3cc1432f5046ddf7be62a23 +size 573948 diff --git a/dresser/sim/chunk_026/episode_00000014_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000014_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6fab92b70613eb7af12b465f226ac0d96d36f4d9 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000014_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d47ba68064f38e518a99e132bf988f1cbc7181b2874eedfaeba7ca928e681210 +size 552334 diff --git a/dresser/sim/chunk_026/episode_00000014_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000014_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b64df3adeab4cca57fa02be4c0259a6ca33e40c4 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000014_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea3d5535e96a925a7c8782f38cc05512f1087d45e1830867ba5b6ab6a6477048 +size 668549 diff --git a/dresser/sim/chunk_026/episode_00000014_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000014_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9957d29291d83cbe2e1894997e1d566d97aecc34 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000014_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61c3df4ca040d78d7d1a5df12fbaba4c6d0c0644a0a296a7bc12559df2d8b90f +size 96729 diff --git a/dresser/sim/chunk_026/episode_00000014_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000014_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..da67d6df33bfc4cb3eb276832f960f31bd8de81a --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000014_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b04649a8ad6b1fd6addd332d6811ab1b3fe8f7c664f8966c39213f3f7a83f8a +size 517010 diff --git a/dresser/sim/chunk_026/episode_00000015_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000015_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e11ba5631fe6c5ad9682065708f518666ab93573 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000015_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc6547e3b7898a5b8473d4bbad314054e09673b5c3507abf314d1adca419a53d +size 430796 diff --git a/dresser/sim/chunk_026/episode_00000015_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000015_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..149329a67227095656c6f59d9decd874c5eedbce --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000015_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16506ee7bcb8ce753577fb05479b9cea6f907ad08a9978df30cf42fe767702ce +size 383961 diff --git a/dresser/sim/chunk_026/episode_00000015_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000015_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e537f47fa097f9249d43ba7c8ebb0e3f4615a4bc --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000015_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:937b7863a4346be0211d0a99a139f2f958384dcd4a93b9f16cb8c962d9884127 +size 594622 diff --git a/dresser/sim/chunk_026/episode_00000015_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000015_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..74b8ee1fc57ea6d2ee998dcea57be2cc6b0cebce --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000015_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77e59d58333b718b44ba634120bf9a9b8568cc6a5d5f28dc98eee390adc5d5c4 +size 772832 diff --git a/dresser/sim/chunk_026/episode_00000015_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000015_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..42628717c5b717374ab75bcf5e6a3f1919af4f7e --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000015_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c67716c0c3b95719dd815b8f4d1f74ba5f80656fc12281dc0a09ebfc1bdfe25a +size 105246 diff --git a/dresser/sim/chunk_026/episode_00000015_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000015_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a81b9affe6d7bd94a2e358d2503d21529bc85896 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000015_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ac49c693be71d1ba0f6aba59c594ab48c860dd02ee9bfe7ef7ab9a319fbfaf5 +size 549359 diff --git a/dresser/sim/chunk_026/episode_00000016_exo_camera_1_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000016_exo_camera_1_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..01b3bc826b6588cd1cdbd5b0f643e82121dae8c8 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000016_exo_camera_1_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79bddcdd8bef8d3924caca1a80434bdb3822739e7a6dd5d1bf47cde30bee7f23 +size 636924 diff --git a/dresser/sim/chunk_026/episode_00000016_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000016_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..549b7226f6938a3d365b55bb4521a7205ebcfc54 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000016_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b7ceec59d7f1d98fb2fb86613207246a14c4f1d7bfa9802bdbf2cd43a9e35b4 +size 537341 diff --git a/dresser/sim/chunk_026/episode_00000016_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000016_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..863614eb0c9e297355239d073ba4d7dc3779ce26 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000016_exo_camera_1_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:029176b7511a048e117b3791aedfba08c8ffffd9569588e0505548a595934ed7 +size 748721 diff --git a/dresser/sim/chunk_026/episode_00000016_wrist_camera_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000016_wrist_camera_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b465da3ef365e89de525ed6d93cfdb6ba8c45944 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000016_wrist_camera_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a63e765080b220a087f2f1af7c39d4c3f239b60c299274e08a600db80cc1a04e +size 1711259 diff --git a/dresser/sim/chunk_026/episode_00000016_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000016_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5d1d43f770c68c2273f51e7caf314de198266421 --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000016_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c4020323bfd77861701416dd65355add125b5683104bd60f5b8c85760515f8e +size 492407 diff --git a/dresser/sim/chunk_026/episode_00000016_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 b/dresser/sim/chunk_026/episode_00000016_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..13199cc1b71953bf155a53408dccad49c84fd5bd --- /dev/null +++ b/dresser/sim/chunk_026/episode_00000016_wrist_camera_seg_batch_1_of_1_cam_rand.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee94aa49764f7284fbd81dd79a1cd88b1c24f5c3094f783effcb0f1a60ebf5b7 +size 712651 diff --git a/dresser/sim/chunk_026/experiment_config_20260518_134250.pkl b/dresser/sim/chunk_026/experiment_config_20260518_134250.pkl new file mode 100644 index 0000000000000000000000000000000000000000..f410645033b1b397dbf499e203147f8fa46bb7dd --- /dev/null +++ b/dresser/sim/chunk_026/experiment_config_20260518_134250.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2d9e400c48e770da23a9501203c8b2e084888b8ca3d93b89bda7075d700957f +size 8144 diff --git a/dresser/sim/chunk_026/running_log.log b/dresser/sim/chunk_026/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..f7211b456ab2e955d1cfa5d691f845cdee516156 --- /dev/null +++ b/dresser/sim/chunk_026/running_log.log @@ -0,0 +1,4397 @@ +05/18 13:42:50 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/18 13:42:50 INFO: Starting house-by-house rollout of 1 houses with 12 episodes each (12 total episodes) using 1 worker processes [pipeline.py: 1359] +05/18 13:42:50 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 13:42:50 INFO: {'batch_num': 1, + 'benchmark_path': None, + 'camera_config': {'cameras': [{'fov': 56.74, + 'fov_noise_degrees': None, + 'is_warped': False, + 'mjcf_name': 'gripper/wrist_camera', + 'name': 'wrist_camera', + 'orientation_noise_degrees': None, + 'pos_noise_range': None, + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'robot_namespace': 'robot_0/', + 'skip_erosion': False, + 'visibility_constraints': None}, + {'camera_offset': [-0.3063767985191294, + 0.41898548410680353, + 0.6558403226398233], + 'camera_quaternion': [0.3798949547479566, + 0.29653985043683495, + -0.501112681562358, + -0.7187697968315937], + 'fov': 71.0, + 'is_warped': False, + 'lookat_noise_range': None, + 'lookat_offset': [0.0, 0.0, 0.08], + 'name': 'exo_camera_1', + 'orientation_noise_degrees': 5.0, + 'pos_noise_range': (-0.05, 0.05), + 'record_depth': True, + 'record_robot_masked_rgb': True, + 'record_segmentation': True, + 'reference_body_names': ['robot_0/fr3_link0'], + 'skip_erosion': False, + 'up_axis': 'z', + 'visibility_constraints': None}], + 'img_resolution': (1280, 720)}, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'train', + 'datagen_profiler': True, + 'end_on_success': False, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': True, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/scr/ravenh/dresser/sim_chunks/chunk_026'), + 'output_suffix': '_cam_rand', + 'policy_config': {'policy_cls': , + 'policy_type': 'planner'}, + 'policy_dt_ms': 66.0, + 'profile': True, + 'profiler': , + 'robot_config': {'K_damping': [793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_dresser', + 'seed': 20026, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.6, 2.8), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 1, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/18 13:42:50 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/18 13:42:50 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 13:42:50 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 13:42:50 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 13:42:54 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/FloorPlan1_physics.xml [task_sampler.py: 797] +05/18 13:42:54 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 13:42:55 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 13:42:55 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 13:42:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:42:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:42:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:42:55 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 13:42:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:42:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141816m [env.py: 870] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:42:55 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 82.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.81926747 -0.87240095 -0.14181554] yaw=-79.8deg [env.py: 1019] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -29.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.30309511 -1.01758318 -0.14181554] yaw=-43.1deg [env.py: 1019] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.87739114 -0.91243293 -0.14181554] yaw=-94.4deg [env.py: 1019] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:42:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=45.8ms, retries=152.7ms, total=198.5ms [env.py: 1075] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.819, -0.872, -0.142) [env.py: 1079] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.8 deg [env.py: 1082] +05/18 13:42:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.869m [env.py: 1086] +05/18 13:42:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:42:55 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 13:43:30 INFO: [Worker 0] Warmed up parallel IK solver in 35.032s [base_object_manipulation_planner_policy.py: 377] +05/18 13:43:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:43:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:43:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.858s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:43:31 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.651[m] 95.569[deg] [grasp_sample.py: 596] +05/18 13:43:32 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:43:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:43:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:43:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:43:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:43:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:43:34 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 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170775m [env.py: 870] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:43:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -63.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.69724602 -0.78063777 -0.1707747 ] yaw=-62.5deg [env.py: 1019] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:43:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=195.4ms, total=195.4ms [env.py: 1075] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.697, -0.781, -0.171) [env.py: 1079] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.5 deg [env.py: 1082] +05/18 13:43:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:43:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:43:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:43:34 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 13:43:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 13:43:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:43:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:43:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.673s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:43:42 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.631[m] 105.283[deg] [grasp_sample.py: 596] +05/18 13:43:42 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:43:43 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:43:43 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:43:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:44:33 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:44:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:44:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:27 INFO: [Worker 0] Worker 0 house 1 episode 1 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:45:46 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 13:45:46 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:45:46 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/18 13:45:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:45:58 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 13:45:58 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 11.36s (batch: 2.68s, save: 8.68s) [pipeline.py: 300] +05/18 13:45:58 INFO: [Worker 0] [PROFILE] Episode 1 house 1 success=True episode_total=5.90s: + episode_total: mean=93.71s, total=187.42s, count=2, min=42682.1ms, max=144738.0ms + sensor_polling: mean=357.6ms, total=95.48s, count=267, min=339.9ms, max=513.4ms + save_trajectories: mean=8.68s, total=8.68s, count=1, min=8679.7ms, max=8679.7ms + physics_step: mean=22.4ms, total=5.99s, count=267, min=16.4ms, max=24.7ms + task_sampling: mean=2.95s, total=5.90s, count=2, min=441.3ms, max=5456.7ms + scene_load: mean=4.99s, total=4.99s, count=1, min=4990.1ms, max=4990.1ms + scene_env_create: mean=2.84s, total=2.84s, count=1, min=2840.9ms, max=2840.9ms + save_batch_prep: mean=2.68s, total=2.68s, count=1, min=2681.7ms, max=2681.7ms + scene_compile: mean=1.95s, total=1.95s, count=1, min=1952.8ms, max=1952.8ms + compile_mujoco: mean=1.27s, total=1.27s, count=1, min=1271.1ms, max=1271.1ms + task_specific_sample: mean=451.4ms, total=902.7ms, count=2, min=438.7ms, max=464.0ms + compile_xml_load: mean=584.5ms, total=584.5ms, count=1, min=584.5ms, max=584.5ms + scene_init: mean=135.4ms, total=135.4ms, count=1, min=135.4ms, max=135.4ms + scene_asset_install: mean=60.8ms, total=60.8ms, count=1, min=60.8ms, max=60.8ms + compile_aux_objects: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms + compile_aux_policy_objects: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms + asset_install_grasps: mean=39.8ms, total=39.8ms, count=1, min=39.8ms, max=39.8ms + compile_robot_add: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + asset_install_objects: mean=18.0ms, total=18.0ms, count=1, min=18.0ms, max=18.0ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + scene_randomize: mean=1.2ms, total=2.3ms, count=2, min=1.0ms, max=1.3ms + mj_forward_sync: mean=443.0us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=20.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:46:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:00 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:46:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106092m [env.py: 870] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -39.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 53.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -20.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.82134907 -0.75527952 -0.10609198] yaw=-75.0deg [env.py: 1019] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=428.6ms, total=428.6ms [env.py: 1075] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.821, -0.755, -0.106) [env.py: 1079] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.0 deg [env.py: 1082] +05/18 13:46:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.984m [env.py: 1086] +05/18 13:46:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:00 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:00 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 13:46:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.137s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:05 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.739[m] 116.924[deg] [grasp_sample.py: 596] +05/18 13:46:06 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:46:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:46:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182138m [env.py: 870] +05/18 13:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 26.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53514916 -1.03047238 -0.18213763] yaw=-38.3deg [env.py: 1019] +05/18 13:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.69237608 -0.71616288 -0.18213763] yaw=-100.1deg [env.py: 1019] +05/18 13:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40001304 -1.075352 -0.18213763] yaw=-42.7deg [env.py: 1019] +05/18 13:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=382.3ms, total=382.4ms [env.py: 1075] +05/18 13:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.535, -1.030, -0.182) [env.py: 1079] +05/18 13:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.3 deg [env.py: 1082] +05/18 13:46:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.814m [env.py: 1086] +05/18 13:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:08 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:46:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.044s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:09 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.862[m] 39.298[deg] [grasp_sample.py: 596] +05/18 13:46:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:46:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:46:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:47:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:47:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:47:38 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:48:28 INFO: [Worker 0] Worker 0 house 1 episode 3 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:48:48 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 13:48:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:48:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 13:49:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:49:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 13:49:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 13.04s (batch: 2.77s, save: 10.27s) [pipeline.py: 300] +05/18 13:49:01 INFO: [Worker 0] [PROFILE] Episode 3 house 1 success=True episode_total=1.32s: + episode_total: mean=90.06s, total=180.13s, count=2, min=6248.1ms, max=173879.2ms + sensor_polling: mean=406.8ms, total=122.04s, count=300, min=378.5ms, max=544.2ms + save_trajectories: mean=10.27s, total=10.27s, count=1, min=10271.0ms, max=10271.0ms + physics_step: mean=27.4ms, total=8.23s, count=300, min=21.2ms, max=33.2ms + save_batch_prep: mean=2.77s, total=2.77s, count=1, min=2771.1ms, max=2771.1ms + task_sampling: mean=662.3ms, total=1.32s, count=2, min=640.1ms, max=684.4ms + task_specific_sample: mean=658.8ms, total=1.32s, count=2, min=637.3ms, max=680.3ms + scene_randomize: mean=2.0ms, total=4.0ms, count=2, min=1.1ms, max=2.9ms + mj_forward_sync: mean=432.8us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=19.3us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:49:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:49:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:49:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:49:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:49:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:49:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:49:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.105049m [env.py: 870] +05/18 13:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:49:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -81.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -13.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 178.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 49.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28272078 -0.9042671 -0.10504887] yaw=-46.5deg [env.py: 1019] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:49:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=176.4ms, total=176.4ms [env.py: 1075] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.283, -0.904, -0.105) [env.py: 1079] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.5 deg [env.py: 1082] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/18 13:49:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:49:03 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 13:49:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/18 13:49:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:49:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:49:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:49:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.792s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:49:06 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:49:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:49:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:49:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:49:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:49:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:49:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:49:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167572m [env.py: 870] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:49:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 5.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -158.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.86828605 -0.63606295 -0.16757179] yaw=-59.7deg [env.py: 1019] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40713534 -0.82392776 -0.16757179] yaw=-51.5deg [env.py: 1019] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:49:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=157.1ms, total=157.2ms [env.py: 1075] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.868, -0.636, -0.168) [env.py: 1079] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg [env.py: 1082] +05/18 13:49:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.098m [env.py: 1086] +05/18 13:49:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:49:07 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 13:49:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 13:49:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:49:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:49:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:49:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.485s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:49:10 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:49:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:49:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:49:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:49:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:49:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:49:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151069m [env.py: 870] +05/18 13:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:49:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:49:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -74.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -129.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.17856578 -1.34119412 -0.15106878] yaw=-7.1deg [env.py: 1019] +05/18 13:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.09093964 -1.06250931 -0.15106878] yaw=-57.5deg [env.py: 1019] +05/18 13:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.17466751 -1.42320881 -0.15106878] yaw=-48.0deg [env.py: 1019] +05/18 13:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:49:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=167.5ms, total=167.5ms [env.py: 1075] +05/18 13:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.179, -1.341, -0.151) [env.py: 1079] +05/18 13:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -7.1 deg [env.py: 1082] +05/18 13:49:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.864m [env.py: 1086] +05/18 13:49:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:49:12 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 13:49:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 13:49:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:49:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:49:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:49:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.253s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:49:14 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.621[m] 80.652[deg] [grasp_sample.py: 596] +05/18 13:49:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:49:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:49:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:49:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:50:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:50:09 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:50:12 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:50:56 INFO: [Worker 0] Worker 0 house 1 episode 6 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:51:14 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 13:51:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:51:14 INFO: [Worker 0] Preparing episode data: 261 timesteps [save_utils.py: 278] +05/18 13:51:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:51:26 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 13:51:26 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 11.53s (batch: 2.74s, save: 8.79s) [pipeline.py: 300] +05/18 13:51:26 INFO: [Worker 0] [PROFILE] Episode 6 house 1 success=True episode_total=1.18s: + episode_total: mean=47.05s, total=141.14s, count=3, min=3040.3ms, max=134668.8ms + sensor_polling: mean=359.2ms, total=93.40s, count=260, min=347.4ms, max=562.3ms + save_trajectories: mean=8.79s, total=8.79s, count=1, min=8794.7ms, max=8794.7ms + physics_step: mean=22.5ms, total=5.86s, count=260, min=16.2ms, max=27.2ms + save_batch_prep: mean=2.74s, total=2.74s, count=1, min=2739.9ms, max=2739.9ms + task_sampling: mean=393.2ms, total=1.18s, count=3, min=377.4ms, max=415.3ms + task_specific_sample: mean=390.2ms, total=1.17s, count=3, min=374.7ms, max=411.2ms + scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.1ms, max=2.8ms + mj_forward_sync: mean=436.8us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=19.7us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:51:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:51:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:51:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:51:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:51:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:51:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:51:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122584m [env.py: 870] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:51:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42195491 -0.8869095 -0.12258372] yaw=-47.2deg [env.py: 1019] +05/18 13:51:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.14420563 -1.25028645 -0.12258372] yaw=-41.8deg [env.py: 1019] +05/18 13:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.72895775 -0.76867957 -0.12258372] yaw=-98.5deg [env.py: 1019] +05/18 13:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:51:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=335.3ms, total=335.4ms [env.py: 1075] +05/18 13:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.422, -0.887, -0.123) [env.py: 1079] +05/18 13:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.2 deg [env.py: 1082] +05/18 13:51:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.996m [env.py: 1086] +05/18 13:51:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:51:28 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 13:51:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/18 13:51:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:51:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:51:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:51:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.690s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:51:35 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.729[m] 78.490[deg] [grasp_sample.py: 596] +05/18 13:51:36 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:51:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:51:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:51:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:51:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:51:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:51:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:51:38 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 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163503m [env.py: 870] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:51:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -0.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.88584707 -0.78461979 -0.16350297] yaw=-114.2deg [env.py: 1019] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24587458 -1.20390811 -0.16350297] yaw=-23.3deg [env.py: 1019] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.72384287 -0.87575747 -0.16350297] yaw=-74.4deg [env.py: 1019] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:51:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=390.8ms, total=390.9ms [env.py: 1075] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.886, -0.785, -0.164) [env.py: 1079] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -114.2 deg [env.py: 1082] +05/18 13:51:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/18 13:51:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:51:38 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 13:51:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/18 13:51:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:51:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:51:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:51:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.804s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:51:39 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.958[m] 36.714[deg] [grasp_sample.py: 596] +05/18 13:51:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:51:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:51:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:52:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:52:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:52:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:52:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.129s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:21 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.700[m] 27.514[deg] [grasp_sample.py: 596] +05/18 13:52:22 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:52:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:23 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 13:52:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161285m [env.py: 870] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -7.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=275.2ms, total=275.2ms [env.py: 1105] +05/18 13:52:24 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:52:24 ERROR: [Worker 0] Worker 0 house 1 episode 9 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:52:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114296m [env.py: 870] +05/18 13:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -120.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -19.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 6.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -7.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.51826163 -0.98704193 -0.11429586] yaw=-33.3deg [env.py: 1019] +05/18 13:52:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=418.4ms, total=418.4ms [env.py: 1075] +05/18 13:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.518, -0.987, -0.114) [env.py: 1079] +05/18 13:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.3 deg [env.py: 1082] +05/18 13:52:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/18 13:52:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:26 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.086s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.802s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:29 INFO: [Worker 0] Feasible grasp found 180 (originally 180): w/ 0.699[m] 117.688[deg] [grasp_sample.py: 596] +05/18 13:52:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:52:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:52:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:53:25 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:53:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:53:35 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:18 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:54:39 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 13:54:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:54:39 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/18 13:54:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:54:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 13:54:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 12.22s (batch: 2.70s, save: 9.51s) [pipeline.py: 300] +05/18 13:54:51 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.93s: + episode_total: mean=49.99s, total=199.94s, count=4, min=304.2ms, max=146350.8ms + sensor_polling: mean=364.7ms, total=125.10s, count=343, min=343.3ms, max=586.9ms + save_trajectories: mean=9.51s, total=9.51s, count=1, min=9510.7ms, max=9510.7ms + physics_step: mean=23.2ms, total=7.97s, count=343, min=16.7ms, max=31.9ms + save_batch_prep: mean=2.70s, total=2.70s, count=1, min=2704.8ms, max=2704.8ms + task_specific_sample: mean=549.0ms, total=2.20s, count=4, min=281.5ms, max=671.6ms + task_sampling: mean=641.8ms, total=1.93s, count=3, min=617.6ms, max=674.8ms + task_sampling_failed: mean=304.2ms, total=304.2ms, count=1, min=304.2ms, max=304.2ms + scene_randomize: mean=1.7ms, total=7.0ms, count=4, min=1.1ms, max=2.1ms + mj_forward_sync: mean=438.9us, total=1.8ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=18.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:54:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:54:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:54:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:54:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:54:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:54:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:54:53 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 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132228m [env.py: 870] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:54:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41690792 -0.9942438 -0.13222777] yaw=-76.9deg [env.py: 1019] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 42.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -7.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24231208 -1.21507746 -0.13222777] yaw=-12.5deg [env.py: 1019] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.03108789 -1.36386889 -0.13222777] yaw=-21.1deg [env.py: 1019] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:54:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.5ms, total=126.6ms [env.py: 1075] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.417, -0.994, -0.132) [env.py: 1079] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.9 deg [env.py: 1082] +05/18 13:54:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/18 13:54:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:54:53 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 13:54:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.100s [base_object_manipulation_planner_policy.py: 377] +05/18 13:54:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:54:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:54:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:54:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.487s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:54:56 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.711[m] 103.845[deg] [grasp_sample.py: 596] +05/18 13:54:57 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:54:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:54:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:54:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:54:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:54:58 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 13:54:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:54:58 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 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116533m [env.py: 870] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:54:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 162.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.18135017 -1.33994173 -0.1165327 ] yaw=-21.6deg [env.py: 1019] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -110.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -134.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.18430822 -1.3655859 -0.1165327 ] yaw=-27.4deg [env.py: 1019] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59653183 -0.75261369 -0.1165327 ] yaw=-68.5deg [env.py: 1019] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:54:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=169.1ms, total=169.2ms [env.py: 1075] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.181, -1.340, -0.117) [env.py: 1079] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.6 deg [env.py: 1082] +05/18 13:54:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/18 13:54:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:54:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:54:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:54:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:54:59 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 13:54:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 13:54:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:54:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:54:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.946s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:55:16 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.558[m] 99.218[deg] [grasp_sample.py: 596] +05/18 13:55:17 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:55:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:19 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:55:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.183474m [env.py: 870] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 41.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -114.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28842493 -0.99104071 -0.18347435] yaw=-39.4deg [env.py: 1019] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.31767879 -1.06517448 -0.18347435] yaw=-48.6deg [env.py: 1019] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.89961805 -0.92356868 -0.18347435] yaw=-79.0deg [env.py: 1019] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:55:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.8ms, total=112.9ms [env.py: 1075] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.288, -0.991, -0.183) [env.py: 1079] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.4 deg [env.py: 1082] +05/18 13:55:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m [env.py: 1086] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:55:19 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 13:55:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 13:55:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:55:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:55:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.477s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:55:34 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.654[m] 102.816[deg] [grasp_sample.py: 596] +05/18 13:55:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:55:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:55:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:55:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:56:26 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:56:33 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:56:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:57:21 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:57:39 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 13:57:39 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:57:39 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/18 13:57:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:57:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 13:57:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 11.59s (batch: 2.73s, save: 8.86s) [pipeline.py: 300] +05/18 13:57:51 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=1.12s: + episode_total: mean=58.55s, total=175.66s, count=3, min=4281.3ms, max=152637.9ms + sensor_polling: mean=365.0ms, total=98.54s, count=270, min=350.1ms, max=573.7ms + save_trajectories: mean=8.86s, total=8.86s, count=1, min=8858.2ms, max=8858.2ms + physics_step: mean=22.8ms, total=6.16s, count=270, min=16.3ms, max=26.1ms + save_batch_prep: mean=2.73s, total=2.73s, count=1, min=2729.2ms, max=2729.2ms + task_sampling: mean=372.3ms, total=1.12s, count=3, min=346.4ms, max=398.1ms + task_specific_sample: mean=369.1ms, total=1.11s, count=3, min=343.9ms, max=395.2ms + scene_randomize: mean=1.7ms, total=5.0ms, count=3, min=1.1ms, max=2.8ms + mj_forward_sync: mean=440.1us, total=1.3ms, count=3, min=0.4ms, max=0.5ms + policy_setup: mean=15.2us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:57:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:57:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:57:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:57:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:57:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:57:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:57:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:57:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:57:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:57:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.151006m [env.py: 870] +05/18 13:57:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:57:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 77.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -11.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51363462 -1.018957 -0.15100649] yaw=-68.9deg [env.py: 1019] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:57:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=205.7ms, total=205.8ms [env.py: 1075] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.514, -1.019, -0.151) [env.py: 1079] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -68.9 deg [env.py: 1082] +05/18 13:57:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/18 13:57:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:57:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:57:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:57:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:57:53 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 13:57:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/18 13:57:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:57:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:57:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:57:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.281s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:57:54 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.613[m] 104.200[deg] [grasp_sample.py: 596] +05/18 13:57:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:57:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:57:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:57:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:58:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:45 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:58:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:58:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:59:40 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:59:58 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 13:59:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:59:58 INFO: [Worker 0] Preparing episode data: 262 timesteps [save_utils.py: 278] +05/18 14:00:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:00:10 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 14:00:10 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 11.69s (batch: 2.69s, save: 9.01s) [pipeline.py: 300] +05/18 14:00:10 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=0.47s: + episode_total: mean=137.96s, total=137.96s, count=1, min=137957.4ms, max=137957.4ms + sensor_polling: mean=358.1ms, total=93.46s, count=261, min=341.1ms, max=568.7ms + save_trajectories: mean=9.01s, total=9.01s, count=1, min=9007.1ms, max=9007.1ms + physics_step: mean=22.4ms, total=5.85s, count=261, min=16.4ms, max=34.0ms + save_batch_prep: mean=2.69s, total=2.69s, count=1, min=2685.2ms, max=2685.2ms + task_sampling: mean=474.2ms, total=474.2ms, count=1, min=474.2ms, max=474.2ms + task_specific_sample: mean=470.2ms, total=470.2ms, count=1, min=470.2ms, max=470.2ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=435.7us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=18.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:00:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:00:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:00:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:00:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:00:12 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 14:00:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:00:12 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 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111726m [env.py: 870] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:00:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.01532506 -1.26469372 -0.11172614] yaw=-0.3deg [env.py: 1019] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -101.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 19.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.86426557 -0.70333224 -0.11172614] yaw=-112.2deg [env.py: 1019] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:00:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.6ms, total=176.6ms [env.py: 1075] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.015, -1.265, -0.112) [env.py: 1079] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -0.3 deg [env.py: 1082] +05/18 14:00:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.045m [env.py: 1086] +05/18 14:00:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:00:12 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 14:00:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/18 14:00:12 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 14:00:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.602s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:00:15 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:00:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:00:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:00:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:00:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:00:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:00:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:00:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.126m, effective arm-mount z=0.734m (base_body_z=-0.126m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126195m [env.py: 870] +05/18 14:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:00:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -25.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25544837 -0.95843902 -0.12619514] yaw=-57.5deg [env.py: 1019] +05/18 14:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.13206419 -1.33780337 -0.12619514] yaw=-3.2deg [env.py: 1019] +05/18 14:00:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:00:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=182.3ms, total=182.3ms [env.py: 1075] +05/18 14:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.255, -0.958, -0.126) [env.py: 1079] +05/18 14:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg [env.py: 1082] +05/18 14:00:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/18 14:00:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:00:17 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 14:00:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.072s [base_object_manipulation_planner_policy.py: 377] +05/18 14:00:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:00:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.553s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:00:19 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:00:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:00:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:00:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:00:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:00:21 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:00:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:00:21 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 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199506m [env.py: 870] +05/18 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:00:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -65.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.87237527 -0.8451257 -0.19950582] yaw=-66.2deg [env.py: 1019] +05/18 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:00:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=191.0ms, total=191.0ms [env.py: 1075] +05/18 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.872, -0.845, -0.200) [env.py: 1079] +05/18 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg [env.py: 1082] +05/18 14:00:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.889m [env.py: 1086] +05/18 14:00:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:00:21 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 14:00:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.073s [base_object_manipulation_planner_policy.py: 377] +05/18 14:00:21 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 14:00:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.210s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:00:23 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.611[m] 78.238[deg] [grasp_sample.py: 596] +05/18 14:00:23 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:00:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:00:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:00:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:00:44 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 14:00:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.365s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:00:45 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.521[m] 64.142[deg] [grasp_sample.py: 596] +05/18 14:00:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:00:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:00:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:00:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:00:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:00:57 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 14:00:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.238s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:00:59 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.521[m] 64.146[deg] [grasp_sample.py: 596] +05/18 14:00:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:00:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:00:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:01:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:01:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:01:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:01:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:01:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.348s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:01:13 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.521[m] 64.146[deg] [grasp_sample.py: 596] +05/18 14:01:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:01:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:01:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:01:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:01:25 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:01:25 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:01:26 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:01:26 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout failed (e.g., IK failure) [task_sampler.py: 396] +05/18 14:01:26 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=False episode_total=1.27s: + episode_total: mean=23.75s, total=71.26s, count=3, min=3147.7ms, max=64872.7ms + sensor_polling: mean=360.3ms, total=20.54s, count=57, min=349.7ms, max=536.4ms + task_sampling: mean=422.0ms, total=1.27s, count=3, min=409.0ms, max=429.2ms + task_specific_sample: mean=418.3ms, total=1.25s, count=3, min=404.5ms, max=426.7ms + physics_step: mean=18.3ms, total=1.04s, count=57, min=14.2ms, max=25.6ms + scene_randomize: mean=1.7ms, total=5.1ms, count=3, min=1.1ms, max=2.8ms + mj_forward_sync: mean=451.9us, total=1.4ms, count=3, min=0.5ms, max=0.5ms + policy_setup: mean=18.4us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:01:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:01:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:01:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:01:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:01:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:01:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:01:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188843m [env.py: 870] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:01:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.59836668 -0.78783784 -0.18884306] yaw=-43.7deg [env.py: 1019] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 23.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.42305264 -0.99043461 -0.18884306] yaw=-71.0deg [env.py: 1019] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:01:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.9ms, total=167.0ms [env.py: 1075] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.598, -0.788, -0.189) [env.py: 1079] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -43.7 deg [env.py: 1082] +05/18 14:01:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m [env.py: 1086] +05/18 14:01:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:01:27 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 14:01:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/18 14:01:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:01:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:01:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.571s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:01:35 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.785[m] 100.830[deg] [grasp_sample.py: 596] +05/18 14:01:36 ERROR: [Worker 0] Worker 0 house 1 episode 18 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:01:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:01:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:01:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:01:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:01:38 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 14:01:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:01:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.151m, effective arm-mount z=0.709m (base_body_z=-0.151m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.150800m [env.py: 870] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:01:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -62.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -179.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 9.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.45131741 -0.87027097 -0.15080013] yaw=-62.0deg [env.py: 1019] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:01:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=196.1ms, total=196.2ms [env.py: 1075] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.451, -0.870, -0.151) [env.py: 1079] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.0 deg [env.py: 1082] +05/18 14:01:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/18 14:01:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:01:38 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 14:01:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 14:01:38 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 14:01:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:01:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.412s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:01:51 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.793[m] 131.139[deg] [grasp_sample.py: 596] +05/18 14:01:52 ERROR: [Worker 0] Worker 0 house 1 episode 19 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:01:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:01:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:01:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:01:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:01:53 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 14:01:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:01:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166473m [env.py: 870] +05/18 14:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:01:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -10.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -157.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -92.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=195.4ms, total=195.4ms [env.py: 1105] +05/18 14:01:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:01:53 ERROR: [Worker 0] Worker 0 house 1 episode 20 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:01:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:01:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:01:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:01:55 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 14:01:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:01:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178115m [env.py: 870] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:01:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 74.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -23.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 12.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.00928934 -1.35829992 -0.17811455] yaw=-29.4deg [env.py: 1019] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.67896752 -0.77328187 -0.17811455] yaw=-87.4deg [env.py: 1019] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.89966389 -0.89434834 -0.17811455] yaw=-75.0deg [env.py: 1019] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:01:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=188.2ms, total=188.2ms [env.py: 1075] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.009, -1.358, -0.178) [env.py: 1079] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.4 deg [env.py: 1082] +05/18 14:01:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.012m [env.py: 1086] +05/18 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:01:55 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 14:01:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 14:01:55 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 14:01:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:01:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.781s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:01:58 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:02:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:02:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:02:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:02:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:02:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:02:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:02:00 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 14:02:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:02:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175668m [env.py: 870] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:02:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.64753401 -0.98599961 -0.1756681 ] yaw=-55.5deg [env.py: 1019] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.35057176 -1.09052894 -0.1756681 ] yaw=-71.9deg [env.py: 1019] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35204233 -0.94956131 -0.1756681 ] yaw=-43.3deg [env.py: 1019] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:02:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=143.7ms, total=143.7ms [env.py: 1075] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.648, -0.986, -0.176) [env.py: 1079] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.5 deg [env.py: 1082] +05/18 14:02:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/18 14:02:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:02:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:02:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:02:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:02:00 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 14:02:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/18 14:02:00 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 14:02:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:02:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:02:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.640s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:02:02 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.759[m] 74.458[deg] [grasp_sample.py: 596] +05/18 14:02:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:02:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:02:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:02:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:34 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:02:34 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:02:34 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 14:02:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:02:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:02:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.254s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:02:35 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.538[m] 49.057[deg] [grasp_sample.py: 596] +05/18 14:02:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:02:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:02:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:02:48 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:02:48 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 14:02:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:02:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:02:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.328s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:02:50 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.535[m] 48.649[deg] [grasp_sample.py: 596] +05/18 14:02:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:02:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:02:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:02:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:03:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:03:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:03:02 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:03:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:03:02 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 14:03:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:03:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:03:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.431s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:03:05 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.535[m] 48.650[deg] [grasp_sample.py: 596] +05/18 14:03:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:03:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:03:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:03:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:03:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:03:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:03:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:03:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:03:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:03:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:03:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:03:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:03:17 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:03:18 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:03:18 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=False episode_total=1.64s: + episode_total: mean=21.06s, total=105.28s, count=5, min=204.6ms, max=78101.7ms + sensor_polling: mean=352.0ms, total=30.63s, count=87, min=345.2ms, max=523.7ms + task_specific_sample: mean=366.8ms, total=1.83s, count=5, min=200.8ms, max=442.9ms + physics_step: mean=20.0ms, total=1.74s, count=87, min=14.3ms, max=25.3ms + task_sampling: mean=411.2ms, total=1.64s, count=4, min=365.4ms, max=446.1ms + task_sampling_failed: mean=204.6ms, total=204.6ms, count=1, min=204.6ms, max=204.6ms + scene_randomize: mean=1.3ms, total=6.7ms, count=5, min=1.1ms, max=1.8ms + mj_forward_sync: mean=432.2us, total=2.2ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=17.9us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:03:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:03:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:03:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:03:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:03:19 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 14:03:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:03:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180596m [env.py: 870] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:03:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -35.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 9.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.27129084 -1.19465982 -0.18059634] yaw=-59.4deg [env.py: 1019] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.76168876 -0.83430406 -0.18059634] yaw=-65.3deg [env.py: 1019] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:03:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=157.6ms, total=157.6ms [env.py: 1075] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.271, -1.195, -0.181) [env.py: 1079] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.4 deg [env.py: 1082] +05/18 14:03:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/18 14:03:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:03:19 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 14:03:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 14:03:19 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 14:03:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:03:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:03:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.266s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:03:23 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.710[m] 102.387[deg] [grasp_sample.py: 596] +05/18 14:03:24 ERROR: [Worker 0] Worker 0 house 1 episode 23 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:03:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:03:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:03:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:03:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:03:25 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 14:03:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:03:25 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 14:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137422m [env.py: 870] +05/18 14:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:03:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.77869181 -0.69332966 -0.13742157] yaw=-100.3deg [env.py: 1019] +05/18 14:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -43.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 82.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:03:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=173.0ms, total=173.0ms [env.py: 1075] +05/18 14:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.779, -0.693, -0.137) [env.py: 1079] +05/18 14:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -100.3 deg [env.py: 1082] +05/18 14:03:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/18 14:03:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:03:26 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 14:03:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 14:03:26 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 14:03:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:03:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:03:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.675s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:03:29 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:03:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:03:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:03:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:03:30 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 14:03:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:03:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143105m [env.py: 870] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:03:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.30237676 -1.01097542 -0.1431054 ] yaw=-20.0deg [env.py: 1019] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -126.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.54728117 -0.88770977 -0.1431054 ] yaw=-67.7deg [env.py: 1019] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:03:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=159.7ms, total=159.7ms [env.py: 1075] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.302, -1.011, -0.143) [env.py: 1079] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.0 deg [env.py: 1082] +05/18 14:03:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.968m [env.py: 1086] +05/18 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:03:30 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 14:03:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 14:03:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:03:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:03:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:03:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.994s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:03:34 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.835[m] 89.671[deg] [grasp_sample.py: 596] +05/18 14:03:36 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:03:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:03:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:03:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:03:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:03:37 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 14:03:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:03:37 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 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186109m [env.py: 870] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:03:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.02869464 -1.24856046 -0.18610919] yaw=-45.6deg [env.py: 1019] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -179.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.87341225 -0.7340182 -0.18610919] yaw=-96.9deg [env.py: 1019] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.47567162 -1.03836279 -0.18610919] yaw=-32.0deg [env.py: 1019] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:03:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=204.5ms, total=204.5ms [env.py: 1075] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.029, -1.249, -0.186) [env.py: 1079] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.6 deg [env.py: 1082] +05/18 14:03:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/18 14:03:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:03:37 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 14:03:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/18 14:03:38 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 14:03:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:03:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:03:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.690s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:03:40 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:03:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:03:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:03:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:03:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:03:42 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 14:03:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:03:42 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 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137690m [env.py: 870] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:03:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -93.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -172.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 17.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.79858156 -0.92985351 -0.13768977] yaw=-69.0deg [env.py: 1019] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.65750683 -0.76454613 -0.13768977] yaw=-45.1deg [env.py: 1019] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.85494067 -0.65251607 -0.13768977] yaw=-108.6deg [env.py: 1019] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:03:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=180.1ms, total=180.1ms [env.py: 1075] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.799, -0.930, -0.138) [env.py: 1079] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -69.0 deg [env.py: 1082] +05/18 14:03:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/18 14:03:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:03:42 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 14:03:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.070s [base_object_manipulation_planner_policy.py: 377] +05/18 14:03:42 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 14:03:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:03:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:03:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.259s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:03:43 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.801[m] 54.859[deg] [grasp_sample.py: 596] +05/18 14:03:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:03:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:03:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:03:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:04:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:04:50 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:04:53 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:05:36 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:05:56 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 14:05:56 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:05:56 INFO: [Worker 0] Preparing episode data: 294 timesteps [save_utils.py: 278] +05/18 14:06:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:06:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 14:06:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 12.92s (batch: 2.81s, save: 10.11s) [pipeline.py: 300] +05/18 14:06:10 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=2.04s: + episode_total: mean=33.08s, total=165.42s, count=5, min=3254.6ms, max=148014.9ms + sensor_polling: mean=351.2ms, total=102.91s, count=293, min=336.5ms, max=553.0ms + save_trajectories: mean=10.11s, total=10.11s, count=1, min=10108.4ms, max=10108.4ms + physics_step: mean=22.3ms, total=6.53s, count=293, min=16.3ms, max=29.4ms + save_batch_prep: mean=2.81s, total=2.81s, count=1, min=2809.6ms, max=2809.6ms + task_sampling: mean=407.3ms, total=2.04s, count=5, min=381.0ms, max=438.9ms + task_specific_sample: mean=404.4ms, total=2.02s, count=5, min=378.5ms, max=436.3ms + scene_randomize: mean=1.3ms, total=6.4ms, count=5, min=1.1ms, max=1.8ms + mj_forward_sync: mean=437.6us, total=2.2ms, count=5, min=0.4ms, max=0.5ms + policy_setup: mean=14.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:06:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:06:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:06:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:06:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:06:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:06:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:06:11 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.162m, effective arm-mount z=0.698m (base_body_z=-0.162m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161684m [env.py: 870] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:06:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -1.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 66.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 170.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -73.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=182.2ms, total=182.2ms [env.py: 1105] +05/18 14:06:11 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:06:11 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:06:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:06:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:06:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:06:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:06:12 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 14:06:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:06:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100576m [env.py: 870] +05/18 14:06:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:06:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 167.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 62.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.28684914 -1.10506973 -0.10057552] yaw=-55.0deg [env.py: 1019] +05/18 14:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -129.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 48.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.23221701 -0.92419933 -0.10057552] yaw=-22.1deg [env.py: 1019] +05/18 14:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:06:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.4ms, total=196.5ms [env.py: 1075] +05/18 14:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.287, -1.105, -0.101) [env.py: 1079] +05/18 14:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.0 deg [env.py: 1082] +05/18 14:06:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/18 14:06:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:06:13 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 14:06:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.092s [base_object_manipulation_planner_policy.py: 377] +05/18 14:06:13 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 14:06:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:06:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:06:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.482s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:06:25 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.661[m] 123.120[deg] [grasp_sample.py: 596] +05/18 14:06:26 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:06:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:06:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:06:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:06:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:06:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:06:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:06:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.124m, effective arm-mount z=0.736m (base_body_z=-0.124m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124071m [env.py: 870] +05/18 14:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:06:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 174.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=199.0ms, total=199.0ms [env.py: 1105] +05/18 14:06:27 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:06:27 ERROR: [Worker 0] Worker 0 house 1 episode 30 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:06:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:06:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:06:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:06:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:06:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:06:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:06:29 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 14:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112117m [env.py: 870] +05/18 14:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:06:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 82.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -12.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -139.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -9.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=186.3ms, total=186.4ms [env.py: 1105] +05/18 14:06:29 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:06:29 ERROR: [Worker 0] Worker 0 house 1 episode 31 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:06:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:06:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:06:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:06:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:06:30 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 14:06:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:06:30 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 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121202m [env.py: 870] +05/18 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:06:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 36.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.66043404 -0.74128781 -0.1212017 ] yaw=-84.5deg [env.py: 1019] +05/18 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:06:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=201.7ms, total=201.7ms [env.py: 1075] +05/18 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.660, -0.741, -0.121) [env.py: 1079] +05/18 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -84.5 deg [env.py: 1082] +05/18 14:06:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.031m [env.py: 1086] +05/18 14:06:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:06:31 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 14:06:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/18 14:06:31 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 14:06:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:06:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:06:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.586s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:06:43 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.849[m] 126.643[deg] [grasp_sample.py: 596] +05/18 14:06:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:06:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:06:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:06:44 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 14:07:52 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:07:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:08:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:08:41 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:09:02 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 14:09:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:09:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:09:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:09:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 14:09:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 12.96s (batch: 2.80s, save: 10.15s) [pipeline.py: 300] +05/18 14:09:16 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=0.90s: + episode_total: mean=35.87s, total=179.37s, count=5, min=193.8ms, max=165395.2ms + sensor_polling: mean=356.8ms, total=107.04s, count=300, min=337.0ms, max=555.3ms + save_trajectories: mean=10.15s, total=10.15s, count=1, min=10153.9ms, max=10153.9ms + physics_step: mean=22.2ms, total=6.67s, count=300, min=16.4ms, max=29.0ms + save_batch_prep: mean=2.80s, total=2.80s, count=1, min=2801.4ms, max=2801.4ms + task_specific_sample: mean=296.7ms, total=1.48s, count=5, min=188.4ms, max=457.4ms + task_sampling: mean=451.9ms, total=903.9ms, count=2, min=443.2ms, max=460.7ms + task_sampling_failed: mean=199.1ms, total=597.2ms, count=3, min=193.7ms, max=208.5ms + scene_randomize: mean=1.4ms, total=6.9ms, count=5, min=1.1ms, max=2.1ms + mj_forward_sync: mean=466.8us, total=2.3ms, count=5, min=0.4ms, max=0.6ms + policy_setup: mean=16.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:09:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:09:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:09:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:09:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:09:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:09:17 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 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191406m [env.py: 870] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:09:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43937306 -0.8009314 -0.19140588] yaw=-77.6deg [env.py: 1019] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 41.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.19057099 -1.36155079 -0.19140588] yaw=-23.6deg [env.py: 1019] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07407505 -1.0992672 -0.19140588] yaw=-63.8deg [env.py: 1019] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:09:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=397.7ms, total=397.8ms [env.py: 1075] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.439, -0.801, -0.191) [env.py: 1079] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.6 deg [env.py: 1082] +05/18 14:09:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m [env.py: 1086] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:09:18 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 14:09:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.093s [base_object_manipulation_planner_policy.py: 377] +05/18 14:09:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:09:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:09:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:09:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.744s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:09:21 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:09:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:09:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:09:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:09:23 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 14:09:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:09:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102423m [env.py: 870] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:09:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -164.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 65.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47609347 -0.9944679 -0.10242292] yaw=-48.4deg [env.py: 1019] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.62633003 -0.97118936 -0.10242292] yaw=-81.3deg [env.py: 1019] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2806705 -1.04766549 -0.10242292] yaw=-43.1deg [env.py: 1019] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:09:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=460.7ms, total=460.7ms [env.py: 1075] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.476, -0.994, -0.102) [env.py: 1079] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.4 deg [env.py: 1082] +05/18 14:09:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.876m [env.py: 1086] +05/18 14:09:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:09:24 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 14:09:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 14:09:24 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 14:09:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:09:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.108s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:09:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.927s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:09:27 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.613[m] 68.416[deg] [grasp_sample.py: 596] +05/18 14:09:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:09:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:09:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:09:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:10:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:10:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:10:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:10:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:10:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.700s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:10:17 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.157[m] 13.446[deg] [grasp_sample.py: 596] +05/18 14:10:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:10:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:10:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:10:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:10:29 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 14:10:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:10:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.677s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:10:30 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.157[m] 13.444[deg] [grasp_sample.py: 596] +05/18 14:10:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:10:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:10:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:42 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:10:42 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:10:42 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 14:10:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:10:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.673s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:10:43 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.157[m] 13.444[deg] [grasp_sample.py: 596] +05/18 14:10:43 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:10:44 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:10:44 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:56 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:10:56 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:10:56 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:10:56 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=False episode_total=1.39s: + episode_total: mean=48.98s, total=97.96s, count=2, min=4618.6ms, max=93341.7ms + sensor_polling: mean=356.9ms, total=46.39s, count=130, min=341.0ms, max=545.0ms + physics_step: mean=20.6ms, total=2.68s, count=130, min=14.4ms, max=28.7ms + task_sampling: mean=696.1ms, total=1.39s, count=2, min=663.2ms, max=729.0ms + task_specific_sample: mean=692.9ms, total=1.39s, count=2, min=659.9ms, max=726.0ms + scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.1ms, max=2.0ms + mj_forward_sync: mean=436.5us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.6us, 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 14:10:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:10:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:10:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:10:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:10:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:10:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:10:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182610m [env.py: 870] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:10:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 178.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25541749 -0.99670916 -0.1826097 ] yaw=-62.2deg [env.py: 1019] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.23740031 -1.3641597 -0.1826097 ] yaw=-52.3deg [env.py: 1019] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.83483258 -0.84101751 -0.1826097 ] yaw=-57.3deg [env.py: 1019] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:10:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=202.0ms, total=202.0ms [env.py: 1075] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.255, -0.997, -0.183) [env.py: 1079] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.2 deg [env.py: 1082] +05/18 14:10:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.011m [env.py: 1086] +05/18 14:10:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:58 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:10:58 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 14:10:58 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 14:10:58 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 14:10:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.106s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.689s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:01 INFO: [Worker 0] Feasible grasp found 21 (originally 21): w/ 0.863[m] 109.752[deg] [grasp_sample.py: 596] +05/18 14:11:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:11:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:11:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:11:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:12:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:12:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:12:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:12:57 INFO: [Worker 0] Worker 0 house 1 episode 35 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:13:19 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 14:13:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:13:19 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:13:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:13:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 14:13:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 13.02s (batch: 2.82s, save: 10.19s) [pipeline.py: 300] +05/18 14:13:33 INFO: [Worker 0] [PROFILE] Episode 35 house 1 success=True episode_total=0.46s: + episode_total: mean=155.12s, total=155.12s, count=1, min=155120.8ms, max=155120.8ms + sensor_polling: mean=357.4ms, total=107.21s, count=300, min=335.1ms, max=576.1ms + save_trajectories: mean=10.19s, total=10.19s, count=1, min=10193.9ms, max=10193.9ms + physics_step: mean=22.7ms, total=6.80s, count=300, min=16.5ms, max=29.2ms + save_batch_prep: mean=2.82s, total=2.82s, count=1, min=2823.9ms, max=2823.9ms + task_sampling: mean=455.8ms, total=455.8ms, count=1, min=455.8ms, max=455.8ms + task_specific_sample: mean=453.1ms, total=453.1ms, count=1, min=453.1ms, max=453.1ms + scene_randomize: mean=1.3ms, total=1.3ms, count=1, min=1.3ms, max=1.3ms + mj_forward_sync: mean=434.2us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=13.8us, 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 14:13:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:34 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 14:13:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:34 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 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168817m [env.py: 870] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.58543778 -0.90115239 -0.16881705] yaw=-58.3deg [env.py: 1019] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 46.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -48.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.52868768 -0.78273504 -0.16881705] yaw=-59.1deg [env.py: 1019] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:13:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=168.7ms, total=168.7ms [env.py: 1075] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.585, -0.901, -0.169) [env.py: 1079] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg [env.py: 1082] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.906m [env.py: 1086] +05/18 14:13:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:13:34 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 14:13:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/18 14:13:34 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 14:13:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.924s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:13:37 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.626[m] 103.101[deg] [grasp_sample.py: 596] +05/18 14:13:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:13:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:13:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:13:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:14:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:14:03 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 14:14:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.704s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:05 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.515[m] 76.574[deg] [grasp_sample.py: 596] +05/18 14:14:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:14:05 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:14:05 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:14:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:14:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:14:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.211s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:19 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.515[m] 76.575[deg] [grasp_sample.py: 596] +05/18 14:14:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:14:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:14:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:32 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:14:32 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:14:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:14:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.816s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:34 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.515[m] 76.575[deg] [grasp_sample.py: 596] +05/18 14:14:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:14:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:14:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:14:46 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:14:46 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:14:47 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:14:47 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=False episode_total=0.42s: + episode_total: mean=72.69s, total=72.69s, count=1, min=72688.6ms, max=72688.6ms + sensor_polling: mean=356.7ms, total=24.26s, count=68, min=343.4ms, max=533.4ms + physics_step: mean=18.8ms, total=1.28s, count=68, min=14.3ms, max=22.1ms + task_sampling: mean=419.1ms, total=419.1ms, count=1, min=419.1ms, max=419.1ms + task_specific_sample: mean=415.0ms, total=415.0ms, count=1, min=415.0ms, max=415.0ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=446.8us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=22.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:14:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:48 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 14:14:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118292m [env.py: 870] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.18829479 -1.28002126 -0.1182919 ] yaw=-23.2deg [env.py: 1019] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -92.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.85797637 -0.74479395 -0.1182919 ] yaw=-104.8deg [env.py: 1019] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -162.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=216.6ms, total=216.7ms [env.py: 1075] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.188, -1.280, -0.118) [env.py: 1079] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.2 deg [env.py: 1082] +05/18 14:14:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/18 14:14:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:48 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:49 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 14:14:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.323s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:53 INFO: [Worker 0] Feasible grasp found 249 (originally 249): w/ 0.629[m] 116.243[deg] [grasp_sample.py: 596] +05/18 14:14:54 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:14:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:56 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 14:14:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.195m, effective arm-mount z=0.665m (base_body_z=-0.195m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194542m [env.py: 870] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -157.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.51348478 -1.00109219 -0.19454169] yaw=-79.4deg [env.py: 1019] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 180.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 18.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 58.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.17665881 -1.15721433 -0.19454169] yaw=-28.1deg [env.py: 1019] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=163.9ms, total=164.0ms [env.py: 1075] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.513, -1.001, -0.195) [env.py: 1079] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -79.4 deg [env.py: 1082] +05/18 14:14:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.851m [env.py: 1086] +05/18 14:14:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:56 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.085s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:56 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 14:14:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.927s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:57 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.795[m] 81.292[deg] [grasp_sample.py: 596] +05/18 14:14:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:14:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:14:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:15:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:15:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:15:31 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 14:15:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.940s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:15:35 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.554[m] 51.252[deg] [grasp_sample.py: 596] +05/18 14:15:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:15:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:15:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:15:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:15:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:15:47 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 14:15:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.838s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:15:51 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.554[m] 51.252[deg] [grasp_sample.py: 596] +05/18 14:15:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:15:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:15:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:15:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:15:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:04 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:16:04 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:16:04 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 14:16:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:16:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:16:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.845s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:16:08 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.554[m] 51.252[deg] [grasp_sample.py: 596] +05/18 14:16:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:16:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:16:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:16:20 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:16:21 INFO: [Worker 0] Worker 0 house 1 episode 38 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:16:21 INFO: [Worker 0] [PROFILE] Episode 38 house 1 success=False episode_total=0.85s: + episode_total: mean=45.56s, total=91.13s, count=2, min=6166.8ms, max=84958.3ms + sensor_polling: mean=353.1ms, total=32.13s, count=91, min=345.4ms, max=595.7ms + physics_step: mean=19.6ms, total=1.78s, count=91, min=14.3ms, max=26.0ms + task_sampling: mean=426.9ms, total=853.9ms, count=2, min=395.8ms, max=458.1ms + task_specific_sample: mean=423.2ms, total=846.5ms, count=2, min=391.7ms, max=454.7ms + scene_randomize: mean=1.6ms, total=3.3ms, count=2, min=1.4ms, max=1.9ms + mj_forward_sync: mean=433.6us, total=0.9ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.4us, 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 14:16:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:16:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:16:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:16:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:16:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:16:22 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 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112009m [env.py: 870] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:16:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.84049196 -0.88465114 -0.11200879] yaw=-58.1deg [env.py: 1019] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -132.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.73321677 -0.83278504 -0.11200879] yaw=-68.1deg [env.py: 1019] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:16:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=171.2ms, total=171.2ms [env.py: 1075] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.840, -0.885, -0.112) [env.py: 1079] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/18 14:16:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/18 14:16:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:16:22 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 14:16:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 14:16:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:16:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:16:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:16:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.572s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:16:24 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.686[m] 111.989[deg] [grasp_sample.py: 596] +05/18 14:16:24 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:16:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:16:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:16:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:45 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:16:45 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:16:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:16:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:16:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:16:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.091s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:16:47 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.608[m] 94.083[deg] [grasp_sample.py: 596] +05/18 14:16:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:16:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:16:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:16:59 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:16:59 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:16:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:16:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.497s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:17:01 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.604[m] 93.295[deg] [grasp_sample.py: 596] +05/18 14:17:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:17:01 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:17:01 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:17:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:13 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:17:13 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:17:13 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 14:17:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.372s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:17:15 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.604[m] 93.296[deg] [grasp_sample.py: 596] +05/18 14:17:15 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:17:15 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:17:15 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:17:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:17:27 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:17:27 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:17:28 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:17:28 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=False episode_total=0.41s: + episode_total: mean=65.68s, total=65.68s, count=1, min=65675.2ms, max=65675.2ms + sensor_polling: mean=348.4ms, total=20.90s, count=60, min=341.5ms, max=396.7ms + physics_step: mean=19.5ms, total=1.17s, count=60, min=14.4ms, max=27.8ms + task_sampling: mean=413.9ms, total=413.9ms, count=1, min=413.9ms, max=413.9ms + task_specific_sample: mean=411.3ms, total=411.3ms, count=1, min=411.3ms, max=411.3ms + scene_randomize: mean=1.2ms, total=1.2ms, count=1, min=1.2ms, max=1.2ms + mj_forward_sync: mean=433.8us, 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 14:17:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:17:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135190m [env.py: 870] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.52679268 -0.81766224 -0.13518994] yaw=-62.9deg [env.py: 1019] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.78764158 -0.89628765 -0.13518994] yaw=-66.0deg [env.py: 1019] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28475834 -1.06706595 -0.13518994] yaw=-34.8deg [env.py: 1019] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=162.7ms, total=162.7ms [env.py: 1075] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.527, -0.818, -0.135) [env.py: 1079] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.9 deg [env.py: 1082] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m [env.py: 1086] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:29 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:29 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 14:17:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.900s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:17:32 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.882[m] 107.302[deg] [grasp_sample.py: 596] +05/18 14:17:34 ERROR: [Worker 0] Worker 0 house 1 episode 40 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:17:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:17:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:35 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 14:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191057m [env.py: 870] +05/18 14:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 46.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=163.3ms, total=163.3ms [env.py: 1105] +05/18 14:17:35 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:17:35 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:17:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:37 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 14:17:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157061m [env.py: 870] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -34.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 27.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.84784121 -0.80530453 -0.15706064] yaw=-109.5deg [env.py: 1019] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 179.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.63090531 -0.95968342 -0.15706064] yaw=-93.0deg [env.py: 1019] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=157.2ms, total=157.2ms [env.py: 1075] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.848, -0.805, -0.157) [env.py: 1079] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.5 deg [env.py: 1082] +05/18 14:17:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.931m [env.py: 1086] +05/18 14:17:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:37 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:37 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 14:17:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.007s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:17:39 INFO: [Worker 0] Feasible grasp found 514 (originally 207): w/ 0.810[m] 68.102[deg] [grasp_sample.py: 596] +05/18 14:17:40 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:17:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:42 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 14:17:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.161m, effective arm-mount z=0.699m (base_body_z=-0.161m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161334m [env.py: 870] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.02486524 -1.22810539 -0.16133416] yaw=-15.4deg [env.py: 1019] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -153.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.16814349 -1.4074745 -0.16133416] yaw=-0.7deg [env.py: 1019] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=168.4ms, total=168.4ms [env.py: 1075] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.025, -1.228, -0.161) [env.py: 1079] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -15.4 deg [env.py: 1082] +05/18 14:17:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/18 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:42 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:42 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 14:17:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.647s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:17:45 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:17:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:17:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140954m [env.py: 870] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -80.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15027617 -1.14633093 -0.14095406] yaw=-10.1deg [env.py: 1019] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -63.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -116.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 52.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35497297 -1.01235453 -0.14095406] yaw=-53.6deg [env.py: 1019] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.2ms, total=186.2ms [env.py: 1075] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.150, -1.146, -0.141) [env.py: 1079] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.1 deg [env.py: 1082] +05/18 14:17:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m [env.py: 1086] +05/18 14:17:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:47 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:47 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 14:17:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.156s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:17:53 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:17:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:54 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 14:17:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:54 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 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153223m [env.py: 870] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.42458197 -1.08059873 -0.15322349] yaw=-44.9deg [env.py: 1019] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -94.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28752337 -1.05496669 -0.15322349] yaw=-35.9deg [env.py: 1019] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=196.2ms, total=196.2ms [env.py: 1075] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.425, -1.081, -0.153) [env.py: 1079] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.9 deg [env.py: 1082] +05/18 14:17:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.836m [env.py: 1086] +05/18 14:17:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:55 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:55 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 14:17:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.268s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:17:56 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.622[m] 92.807[deg] [grasp_sample.py: 596] +05/18 14:17:56 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:17:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:17:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:17:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:18:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:18:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:18:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:18:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:18:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:19:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:19:46 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:20:05 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 14:20:05 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:20:05 INFO: [Worker 0] Preparing episode data: 265 timesteps [save_utils.py: 278] +05/18 14:20:17 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:20:17 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 14:20:17 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 11.70s (batch: 2.76s, save: 8.94s) [pipeline.py: 300] +05/18 14:20:17 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=2.05s: + episode_total: mean=26.94s, total=161.64s, count=6, min=172.4ms, max=142987.0ms + sensor_polling: mean=360.2ms, total=95.11s, count=264, min=336.9ms, max=566.0ms + save_trajectories: mean=8.94s, total=8.94s, count=1, min=8940.2ms, max=8940.2ms + physics_step: mean=22.5ms, total=5.95s, count=264, min=16.6ms, max=26.4ms + save_batch_prep: mean=2.76s, total=2.76s, count=1, min=2762.1ms, max=2762.1ms + task_specific_sample: mean=367.0ms, total=2.20s, count=6, min=168.8ms, max=438.3ms + task_sampling: mean=409.4ms, total=2.05s, count=5, min=384.0ms, max=440.8ms + task_sampling_failed: mean=172.4ms, total=172.4ms, count=1, min=172.4ms, max=172.4ms + scene_randomize: mean=1.2ms, total=7.0ms, count=6, min=1.1ms, max=1.3ms + mj_forward_sync: mean=436.9us, total=2.6ms, count=6, min=0.4ms, max=0.4ms + policy_setup: mean=17.8us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:20:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:20:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:20:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:20:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:20:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:20:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:20:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:20:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:20:19 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 14:20:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:20:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152454m [env.py: 870] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:20:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.73125175 -0.8918566 -0.15245436] yaw=-55.7deg [env.py: 1019] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.19993337 -1.13667893 -0.15245436] yaw=-63.0deg [env.py: 1019] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.12554874 -1.41017942 -0.15245436] yaw=3.9deg [env.py: 1019] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:20:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.3ms, total=181.3ms [env.py: 1075] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.731, -0.892, -0.152) [env.py: 1079] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg [env.py: 1082] +05/18 14:20:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.867m [env.py: 1086] +05/18 14:20:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:20:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:20:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:20:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:20:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:20:19 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/18 14:20:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.089s [base_object_manipulation_planner_policy.py: 377] +05/18 14:20:19 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 14:20:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:20:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:20:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.397s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:20:22 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.735[m] 77.644[deg] [grasp_sample.py: 596] +05/18 14:20:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:20:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:20:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:20:22 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 14:20:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:20:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:20:47 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 14:20:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:20:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:20:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.258s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:20:50 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.596[m] 59.773[deg] [grasp_sample.py: 596] +05/18 14:20:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:20:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:20:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:20:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:21:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:21:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:21:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:21:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:21:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.424s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:21:05 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.592[m] 59.233[deg] [grasp_sample.py: 596] +05/18 14:21:06 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:21:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:21:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:21:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:21:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:21:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:21:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:21:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:21:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.832s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:21:21 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.592[m] 59.233[deg] [grasp_sample.py: 596] +05/18 14:21:21 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:21:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:21:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:21:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:21:33 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:21:34 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:21:34 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=False episode_total=0.45s: + episode_total: mean=75.28s, total=75.28s, count=1, min=75282.1ms, max=75282.1ms + sensor_polling: mean=355.7ms, total=24.90s, count=70, min=348.8ms, max=365.1ms + physics_step: mean=19.6ms, total=1.37s, count=70, min=14.4ms, max=22.2ms + task_sampling: mean=449.6ms, total=449.6ms, count=1, min=449.6ms, max=449.6ms + task_specific_sample: mean=445.5ms, total=445.5ms, count=1, min=445.5ms, max=445.5ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=453.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=18.7us, 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 14:21:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:21:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:21:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:21:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:21:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:21:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:21:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:21:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:21:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:21:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:21:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159580m [env.py: 870] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:21:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 31.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.22080054 -1.10382538 -0.15957955] yaw=-33.8deg [env.py: 1019] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.63067193 -0.88988052 -0.15957955] yaw=-91.6deg [env.py: 1019] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 40.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 83.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.58111508 -0.86005305 -0.15957955] yaw=-78.4deg [env.py: 1019] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:21:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=161.7ms, total=161.7ms [env.py: 1075] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.221, -1.104, -0.160) [env.py: 1079] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.8 deg [env.py: 1082] +05/18 14:21:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/18 14:21:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:21:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:21:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:21:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:21:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:21:36 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 14:21:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 14:21:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:21:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:21:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:21:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.027s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:21:45 INFO: [Worker 0] Feasible grasp found 69 (originally 69): w/ 0.671[m] 108.196[deg] [grasp_sample.py: 596] +05/18 14:21:46 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:21:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:21:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:21:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:21:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:21:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:21:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:21:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:21:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:21:47 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 14:21:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:21:47 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 14:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130009m [env.py: 870] +05/18 14:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:21:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:21:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.44122495 -0.94482343 -0.13000937] yaw=-57.6deg [env.py: 1019] +05/18 14:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.42070702 -0.83835918 -0.13000937] yaw=-60.8deg [env.py: 1019] +05/18 14:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.20475583 -1.37052543 -0.13000937] yaw=-15.4deg [env.py: 1019] +05/18 14:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:21:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.3ms, total=132.3ms [env.py: 1075] +05/18 14:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.441, -0.945, -0.130) [env.py: 1079] +05/18 14:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/18 14:21:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/18 14:21:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:21:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:21:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:21:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:21:48 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 14:21:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/18 14:21:48 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 14:21:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:21:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.107s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 26.508s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:22:15 INFO: [Worker 0] Feasible grasp found 27 (originally 27): w/ 0.712[m] 99.838[deg] [grasp_sample.py: 596] +05/18 14:22:16 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:22:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:22:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141616m [env.py: 870] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -18.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -68.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.20249023 -0.97410106 -0.1416156 ] yaw=-23.3deg [env.py: 1019] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12940506 -1.01907678 -0.1416156 ] yaw=-57.8deg [env.py: 1019] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=187.5ms, total=187.6ms [env.py: 1075] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -0.974, -0.142) [env.py: 1079] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.3 deg [env.py: 1082] +05/18 14:22:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.064m [env.py: 1086] +05/18 14:22:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:17 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 49/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.071s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:18 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:22:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.521s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:22:20 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:22:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:22:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173490m [env.py: 870] +05/18 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 62.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -54.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -115.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -18.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=177.7ms, total=177.8ms [env.py: 1105] +05/18 14:22:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:22:22 ERROR: [Worker 0] Worker 0 house 1 episode 50 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:22:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:23 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 14:22:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165863m [env.py: 870] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50640843 -0.98198209 -0.16586303] yaw=-72.7deg [env.py: 1019] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -81.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 24.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 78.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=185.1ms, total=185.2ms [env.py: 1075] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.506, -0.982, -0.166) [env.py: 1079] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.7 deg [env.py: 1082] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/18 14:22:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:22:24 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:24 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 14:22:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.257s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:22:26 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.687[m] 108.668[deg] [grasp_sample.py: 596] +05/18 14:22:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:22:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:22:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:22:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:23:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:23:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:23:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:24:02 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:24:02 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:24:02 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 14:24:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:24:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.167s, found 178 non-colliding grasps [grasp_sample.py: 520] +05/18 14:24:03 INFO: [Worker 0] Feasibility-checked 178 grasps in 0.504s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:24:03 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.066[m] 2.446[deg] [grasp_sample.py: 596] +05/18 14:24:03 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:24:03 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:24:03 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:24:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:24:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:24:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:24:27 INFO: [Worker 0] Worker 0 house 1 episode 51 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:24:48 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 14:24:48 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:24:48 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:25:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:25:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 14:25:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 13.11s (batch: 2.99s, save: 10.12s) [pipeline.py: 300] +05/18 14:25:01 INFO: [Worker 0] [PROFILE] Episode 51 house 1 success=True episode_total=1.67s: + episode_total: mean=40.14s, total=200.68s, count=5, min=187.5ms, max=158160.6ms + sensor_polling: mean=368.3ms, total=110.49s, count=300, min=350.7ms, max=593.8ms + save_trajectories: mean=10.12s, total=10.12s, count=1, min=10121.4ms, max=10121.4ms + physics_step: mean=22.9ms, total=6.87s, count=300, min=16.4ms, max=33.8ms + save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2992.1ms, max=2992.1ms + task_specific_sample: mean=367.9ms, total=1.84s, count=5, min=183.5ms, max=435.5ms + task_sampling: mean=417.6ms, total=1.67s, count=4, min=403.0ms, max=438.3ms + task_sampling_failed: mean=187.5ms, total=187.5ms, count=1, min=187.5ms, max=187.5ms + scene_randomize: mean=1.3ms, total=6.6ms, count=5, min=1.1ms, max=1.9ms + mj_forward_sync: mean=442.0us, total=2.2ms, count=5, min=0.4ms, max=0.5ms + policy_setup: mean=16.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:25:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:25:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:25:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:25:03 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:25:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:25:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122486m [env.py: 870] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:25:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -80.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -109.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 164.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.4964094 -0.90188827 -0.12248568] yaw=-65.9deg [env.py: 1019] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:25:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=200.6ms, total=200.6ms [env.py: 1075] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.496, -0.902, -0.122) [env.py: 1079] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.9 deg [env.py: 1082] +05/18 14:25:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:25:03 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 14:25:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/18 14:25:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:25:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:25:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:25:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.928s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:25:07 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.694[m] 120.722[deg] [grasp_sample.py: 596] +05/18 14:25:08 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:25:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:25:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:25:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:25:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:25:10 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 14:25:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:25:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178661m [env.py: 870] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:25:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -95.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -160.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 167.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.91659785 -0.7618688 -0.1786611 ] yaw=-85.5deg [env.py: 1019] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25614628 -1.15099482 -0.1786611 ] yaw=-37.5deg [env.py: 1019] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.59075745 -1.01034057 -0.1786611 ] yaw=-44.7deg [env.py: 1019] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:25:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=191.7ms, total=191.8ms [env.py: 1075] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.917, -0.762, -0.179) [env.py: 1079] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.5 deg [env.py: 1082] +05/18 14:25:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/18 14:25:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:25:10 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/18 14:25:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 14:25:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:25:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:25:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:25:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.777s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:25:13 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.755[m] 130.378[deg] [grasp_sample.py: 596] +05/18 14:25:14 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:25:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:25:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:25:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:25:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:25:16 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:25:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:25:16 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 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109423m [env.py: 870] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:25:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.023545 -1.21893174 -0.10942302] yaw=-13.9deg [env.py: 1019] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -78.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -141.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.64529619 -0.93115948 -0.10942302] yaw=-49.8deg [env.py: 1019] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36658945 -0.86151072 -0.10942302] yaw=-54.9deg [env.py: 1019] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:25:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=185.1ms, total=185.2ms [env.py: 1075] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.024, -1.219, -0.109) [env.py: 1079] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.9 deg [env.py: 1082] +05/18 14:25:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/18 14:25:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:16 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:25:16 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/18 14:25:16 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 14:25:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:25:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:25:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:25:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.610s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:25:19 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:25:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:25:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:25:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:25:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:25:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:25:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:25:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154548m [env.py: 870] +05/18 14:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:25:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.18051868 -1.13983509 -0.15454842] yaw=-58.5deg [env.py: 1019] +05/18 14:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 52.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 53.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.0139483 -1.3783232 -0.15454842] yaw=5.9deg [env.py: 1019] +05/18 14:25:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:25:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=203.7ms, total=203.7ms [env.py: 1075] +05/18 14:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.181, -1.140, -0.155) [env.py: 1079] +05/18 14:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.5 deg [env.py: 1082] +05/18 14:25:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/18 14:25:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:25:21 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/18 14:25:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/18 14:25:21 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 14:25:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:25:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:25:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.147s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:25:29 INFO: [Worker 0] Feasible grasp found 108 (originally 108): w/ 0.643[m] 95.578[deg] [grasp_sample.py: 596] +05/18 14:25:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:25:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:25:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:25:30 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:26:18 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:26:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:26:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:26:30 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:26:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:26:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:26:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:26:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.210s, found 107 non-colliding grasps [grasp_sample.py: 520] +05/18 14:26:36 INFO: [Worker 0] Feasibility-checked 107 grasps in 5.315s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:26:36 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:26:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:26:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:26:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:26:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:26:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:26:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:26:37 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:26:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:26:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170091m [env.py: 870] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:26:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -51.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -78.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.06550017 -1.36906518 -0.17009074] yaw=-7.1deg [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 5: bearing -24.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +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 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=186.7ms, total=186.7ms [env.py: 1075] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.066, -1.369, -0.170) [env.py: 1079] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -7.1 deg [env.py: 1082] +05/18 14:26:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [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 56/72 collected=0/12 [pipeline.py: 1044] +05/18 14:26:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 14:26:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:26:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:26:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.113s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:26:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.678s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:26:40 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:26:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:26:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:26:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:26:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:26:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:26:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:26:42 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 14:26:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:26:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166666m [env.py: 870] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:26:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -98.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52362807 -0.78233422 -0.16666635] yaw=-63.5deg [env.py: 1019] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -145.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -104.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48344221 -0.78404349 -0.16666635] yaw=-70.2deg [env.py: 1019] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:26:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=197.0ms, total=197.1ms [env.py: 1075] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.524, -0.782, -0.167) [env.py: 1079] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.5 deg [env.py: 1082] +05/18 14:26:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/18 14:26:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:26:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:26:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:26:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:26:42 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/18 14:26:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/18 14:26:42 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 14:26:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:26:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:26:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.986s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:26:51 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.852[m] 67.016[deg] [grasp_sample.py: 596] +05/18 14:26:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:26:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:26:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:27:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:27:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:27:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:27:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:28:01 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:28:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:28:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:28:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.949s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:28:11 INFO: [Worker 0] Feasible grasp found 137 (originally 137): w/ 0.144[m] 3.976[deg] [grasp_sample.py: 596] +05/18 14:28:12 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:28:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:28:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:28:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:28:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:28:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:28:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:28:14 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 14:28:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:28:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.196382m [env.py: 870] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:28:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.30127411 -1.19090776 -0.19638243] yaw=-58.3deg [env.py: 1019] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 166.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -87.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.24288858 -0.97151757 -0.19638243] yaw=-41.9deg [env.py: 1019] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.50959021 -0.9516169 -0.19638243] yaw=-66.6deg [env.py: 1019] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:28:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=124.5ms, total=124.5ms [env.py: 1075] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.301, -1.191, -0.196) [env.py: 1079] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.3 deg [env.py: 1082] +05/18 14:28:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m [env.py: 1086] +05/18 14:28:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:28:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:28:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:28:14 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/18 14:28:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.076s [base_object_manipulation_planner_policy.py: 377] +05/18 14:28:14 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:28:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:28:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.112s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:28:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.720s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:28:17 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.680[m] 75.625[deg] [grasp_sample.py: 596] +05/18 14:28:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:28:18 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:28:18 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:29:09 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:29:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:29:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:30:02 INFO: [Worker 0] Worker 0 house 1 episode 58 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:30:21 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 14:30:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:30:21 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/18 14:30:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:30:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 14:30:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 11.75s (batch: 2.81s, save: 8.94s) [pipeline.py: 300] +05/18 14:30:33 INFO: [Worker 0] [PROFILE] Episode 58 house 1 success=True episode_total=3.04s: + episode_total: mean=46.05s, total=322.35s, count=7, min=3206.2ms, max=139458.4ms + sensor_polling: mean=357.7ms, total=205.33s, count=574, min=337.3ms, max=596.9ms + physics_step: mean=22.2ms, total=12.75s, count=574, min=16.4ms, max=29.7ms + save_trajectories: mean=8.94s, total=8.94s, count=1, min=8943.3ms, max=8943.3ms + task_sampling: mean=433.6ms, total=3.04s, count=7, min=379.0ms, max=463.7ms + task_specific_sample: mean=430.5ms, total=3.01s, count=7, min=375.7ms, max=460.4ms + save_batch_prep: mean=2.81s, total=2.81s, count=1, min=2811.4ms, max=2811.4ms + scene_randomize: mean=1.4ms, total=9.8ms, count=7, min=1.1ms, max=2.0ms + mj_forward_sync: mean=441.9us, total=3.1ms, count=7, min=0.4ms, max=0.4ms + policy_setup: mean=16.4us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:30:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:30:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:30:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:30:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:30:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:30:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:30:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191803m [env.py: 870] +05/18 14:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:30:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.46870363 -0.74945587 -0.19180304] yaw=-52.3deg [env.py: 1019] +05/18 14:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19968775 -1.33212561 -0.19180304] yaw=-49.9deg [env.py: 1019] +05/18 14:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.13771529 -1.31228521 -0.19180304] yaw=-13.5deg [env.py: 1019] +05/18 14:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:30:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 3 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=82.6ms, total=82.6ms [env.py: 1075] +05/18 14:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.469, -0.749, -0.192) [env.py: 1079] +05/18 14:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.3 deg [env.py: 1082] +05/18 14:30:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.093m [env.py: 1086] +05/18 14:30:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:30:35 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/18 14:30:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/18 14:30:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:30:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:30:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:30:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.728s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:30:38 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:30:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:30:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:30:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:30:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:30:39 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 14:30:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:30:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180816m [env.py: 870] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:30:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -37.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.21740708 -0.99431838 -0.1808157 ] yaw=-67.5deg [env.py: 1019] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -90.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -52.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.83151741 -0.67086086 -0.1808157 ] yaw=-105.2deg [env.py: 1019] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:30:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=186.8ms, total=186.9ms [env.py: 1075] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.217, -0.994, -0.181) [env.py: 1079] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.5 deg [env.py: 1082] +05/18 14:30:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.039m [env.py: 1086] +05/18 14:30:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:30:40 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/18 14:30:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 14:30:40 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 14:30:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:30:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:30:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.754s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:30:43 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:30:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:30:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:30:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:30:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:30:44 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 14:30:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:30:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.114m, effective arm-mount z=0.746m (base_body_z=-0.114m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.113717m [env.py: 870] +05/18 14:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:30:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 44.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=185.3ms, total=185.3ms [env.py: 1105] +05/18 14:30:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:30:44 ERROR: [Worker 0] Worker 0 house 1 episode 61 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:30:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:30:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:30:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:30:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:30:46 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:30:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:30:46 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 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120248m [env.py: 870] +05/18 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:30:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.41813408 -1.08672066 -0.12024837] yaw=-60.0deg [env.py: 1019] +05/18 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 75.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 163.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.51438496 -0.81562116 -0.12024837] yaw=-59.0deg [env.py: 1019] +05/18 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:30:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=186.6ms, total=186.7ms [env.py: 1075] +05/18 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -1.087, -0.120) [env.py: 1079] +05/18 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.0 deg [env.py: 1082] +05/18 14:30:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.835m [env.py: 1086] +05/18 14:30:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:30:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:30:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:30:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:30:46 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/18 14:30:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.084s [base_object_manipulation_planner_policy.py: 377] +05/18 14:30:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:30:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:30:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:30:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.083s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:30:50 INFO: [Worker 0] Feasible grasp found 150 (originally 150): w/ 0.781[m] 70.373[deg] [grasp_sample.py: 596] +05/18 14:30:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:30:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:30:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:31:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:32:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:32:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:32:57 INFO: [Worker 0] Worker 0 house 1 episode 62 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:33:17 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 14:33:17 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:33:17 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/18 14:33:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:33:30 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 14:33:30 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 12.93s (batch: 2.87s, save: 10.07s) [pipeline.py: 300] +05/18 14:33:30 INFO: [Worker 0] [PROFILE] Episode 62 house 1 success=True episode_total=1.21s: + episode_total: mean=42.95s, total=171.79s, count=4, min=195.7ms, max=164897.6ms + sensor_polling: mean=388.0ms, total=112.13s, count=289, min=338.3ms, max=605.7ms + save_trajectories: mean=10.07s, total=10.07s, count=1, min=10066.1ms, max=10066.1ms + physics_step: mean=25.6ms, total=7.40s, count=289, min=16.3ms, max=32.5ms + save_batch_prep: mean=2.87s, total=2.87s, count=1, min=2865.8ms, max=2865.8ms + task_specific_sample: mean=347.4ms, total=1.39s, count=4, min=191.4ms, max=425.0ms + task_sampling: mean=402.3ms, total=1.21s, count=3, min=355.4ms, max=427.8ms + task_sampling_failed: mean=195.7ms, total=195.7ms, count=1, min=195.7ms, max=195.7ms + scene_randomize: mean=1.5ms, total=6.0ms, count=4, min=1.1ms, max=2.0ms + mj_forward_sync: mean=478.5us, total=1.9ms, count=4, min=0.4ms, max=0.6ms + policy_setup: mean=17.2us, total=0.1ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:33:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:33:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134482m [env.py: 870] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.76589801 -0.69470384 -0.13448226] yaw=-67.1deg [env.py: 1019] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -128.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 74.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 66.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 77.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.05294949 -1.35511748 -0.13448226] yaw=-6.4deg [env.py: 1019] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=194.3ms, total=194.4ms [env.py: 1075] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.766, -0.695, -0.134) [env.py: 1079] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.1 deg [env.py: 1082] +05/18 14:33:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:32 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.098s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:32 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:33:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.628s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:33:35 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:33:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:36 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 14:33:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.163m, effective arm-mount z=0.697m (base_body_z=-0.163m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163357m [env.py: 870] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 46.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42664142 -1.04492822 -0.16335664] yaw=-51.2deg [env.py: 1019] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 77.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.03708611 -1.36670882 -0.16335664] yaw=-19.0deg [env.py: 1019] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.08540333 -1.40956646 -0.16335664] yaw=1.3deg [env.py: 1019] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=107.9ms, total=108.0ms [env.py: 1075] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.427, -1.045, -0.163) [env.py: 1079] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.2 deg [env.py: 1082] +05/18 14:33:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.863m [env.py: 1086] +05/18 14:33:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:37 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:37 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 14:33:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.597s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:33:38 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.602[m] 63.688[deg] [grasp_sample.py: 596] +05/18 14:33:39 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:33:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:33:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:33:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:34:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:34:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:34:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:34:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:35:25 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:35:43 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 14:35:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:35:43 INFO: [Worker 0] Preparing episode data: 253 timesteps [save_utils.py: 278] +05/18 14:35:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:35:54 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 14:35:54 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 11.51s (batch: 2.85s, save: 8.65s) [pipeline.py: 300] +05/18 14:35:55 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=0.80s: + episode_total: mean=70.90s, total=141.80s, count=2, min=3301.3ms, max=138497.9ms + sensor_polling: mean=358.6ms, total=90.37s, count=252, min=345.7ms, max=604.6ms + save_trajectories: mean=8.65s, total=8.65s, count=1, min=8653.0ms, max=8653.0ms + physics_step: mean=22.6ms, total=5.69s, count=252, min=16.6ms, max=29.2ms + save_batch_prep: mean=2.85s, total=2.85s, count=1, min=2852.9ms, max=2852.9ms + task_sampling: mean=402.5ms, total=805.0ms, count=2, min=343.5ms, max=461.5ms + task_specific_sample: mean=399.4ms, total=798.8ms, count=2, min=340.6ms, max=458.2ms + scene_randomize: mean=1.6ms, total=3.1ms, count=2, min=1.1ms, max=2.0ms + mj_forward_sync: mean=456.6us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=17.3us, 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 14:35:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:35:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:35:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:35:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:35:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:35:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:35:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:35:56 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 14:35:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:35:56 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 14:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172139m [env.py: 870] +05/18 14:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:35:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -97.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38833638 -1.07666798 -0.1721391 ] yaw=-55.1deg [env.py: 1019] +05/18 14:35:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:35:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=316.8ms, total=316.9ms [env.py: 1075] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.388, -1.077, -0.172) [env.py: 1079] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.1 deg [env.py: 1082] +05/18 14:35:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.862m [env.py: 1086] +05/18 14:35:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:35:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:35:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:35:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:35:57 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/18 14:35:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/18 14:35:57 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 14:35:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:35:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:36:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.928s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:36:02 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.759[m] 77.982[deg] [grasp_sample.py: 596] +05/18 14:36:02 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:36:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:36:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:36:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:37:06 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:37:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:37:18 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:38:02 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:38:22 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 14:38:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:38:22 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/18 14:38:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:38:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 14:38:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 13.43s (batch: 2.99s, save: 10.44s) [pipeline.py: 300] +05/18 14:38:36 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=0.58s: + episode_total: mean=160.07s, total=160.07s, count=1, min=160069.0ms, max=160069.0ms + sensor_polling: mean=362.1ms, total=104.65s, count=289, min=346.5ms, max=598.1ms + save_trajectories: mean=10.44s, total=10.44s, count=1, min=10440.2ms, max=10440.2ms + physics_step: mean=22.4ms, total=6.48s, count=289, min=16.4ms, max=30.1ms + save_batch_prep: mean=2.99s, total=2.99s, count=1, min=2987.1ms, max=2987.1ms + task_sampling: mean=579.8ms, total=579.8ms, count=1, min=579.8ms, max=579.8ms + task_specific_sample: mean=575.5ms, total=575.5ms, count=1, min=575.5ms, max=575.5ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=485.1us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=19.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:38:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:38:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:38:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:38:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:38:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:38:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:38:38 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 14:38:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:38:38 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 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144383m [env.py: 870] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:38:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44643974 -0.89694162 -0.14438287] yaw=-35.0deg [env.py: 1019] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -6.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 47.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23789055 -1.09523026 -0.14438287] yaw=-63.3deg [env.py: 1019] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.4597118 -0.87359789 -0.14438287] yaw=-80.6deg [env.py: 1019] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:38:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.6ms, total=164.6ms [env.py: 1075] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.446, -0.897, -0.144) [env.py: 1079] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.0 deg [env.py: 1082] +05/18 14:38:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/18 14:38:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:38:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:38:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:38:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:38:38 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/18 14:38:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.081s [base_object_manipulation_planner_policy.py: 377] +05/18 14:38:38 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 14:38:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:38:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:38:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.895s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:38:41 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.819[m] 83.647[deg] [grasp_sample.py: 596] +05/18 14:38:42 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:38:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:38:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:38:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:38:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:38:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:38:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:38:44 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 14:38:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:38:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195934m [env.py: 870] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:38:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.42692413 -1.00341408 -0.19593403] yaw=-54.0deg [env.py: 1019] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -23.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.1727846 -1.22787824 -0.19593403] yaw=-42.3deg [env.py: 1019] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:38:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=191.0ms, total=191.1ms [env.py: 1075] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.427, -1.003, -0.196) [env.py: 1079] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.0 deg [env.py: 1082] +05/18 14:38:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.896m [env.py: 1086] +05/18 14:38:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:38:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:38:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:38:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:38:44 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/18 14:38:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.083s [base_object_manipulation_planner_policy.py: 377] +05/18 14:38:44 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 14:38:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:38:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:38:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.647s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:38:47 INFO: [Worker 0] Feasible grasp found 119 (originally 119): w/ 0.667[m] 86.077[deg] [grasp_sample.py: 596] +05/18 14:38:47 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:38:48 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:38:48 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:39:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:39:44 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:39:47 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:40:30 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:40:49 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 14:40:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:40:49 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/18 14:41:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:41:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 14:41:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 11.48s (batch: 2.70s, save: 8.78s) [pipeline.py: 300] +05/18 14:41:01 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=0.86s: + episode_total: mean=70.99s, total=141.97s, count=2, min=4730.5ms, max=137243.8ms + sensor_polling: mean=358.4ms, total=94.97s, count=265, min=347.1ms, max=581.9ms + save_trajectories: mean=8.78s, total=8.78s, count=1, min=8780.6ms, max=8780.6ms + physics_step: mean=22.9ms, total=6.07s, count=265, min=16.5ms, max=27.6ms + save_batch_prep: mean=2.70s, total=2.70s, count=1, min=2701.4ms, max=2701.4ms + task_sampling: mean=432.2ms, total=864.4ms, count=2, min=428.4ms, max=436.0ms + task_specific_sample: mean=428.6ms, total=857.2ms, count=2, min=424.8ms, max=432.4ms + scene_randomize: mean=2.1ms, total=4.1ms, count=2, min=1.8ms, max=2.3ms + mj_forward_sync: mean=445.9us, total=0.9ms, count=2, min=0.4ms, max=0.5ms + policy_setup: mean=16.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:41:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:41:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:41:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:41:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:41:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:41:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:41:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.104m, effective arm-mount z=0.756m (base_body_z=-0.104m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103560m [env.py: 870] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:41:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 14.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -17.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -171.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=199.9ms, total=199.9ms [env.py: 1105] +05/18 14:41:03 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:41:03 ERROR: [Worker 0] Worker 0 house 1 episode 68 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:41:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:41:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:41:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:41:04 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 14:41:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:41:04 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 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120590m [env.py: 870] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:41:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 58.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -61.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -73.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.09087883 -1.11080975 -0.1205896 ] yaw=-58.1deg [env.py: 1019] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.17499973 -1.35494185 -0.1205896 ] yaw=-19.7deg [env.py: 1019] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.03761674 -1.12310085 -0.1205896 ] yaw=-53.5deg [env.py: 1019] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:41:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=132.0ms, total=132.1ms [env.py: 1075] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.091, -1.111, -0.121) [env.py: 1079] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.1 deg [env.py: 1082] +05/18 14:41:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.060m [env.py: 1086] +05/18 14:41:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:41:04 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/18 14:41:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.096s [base_object_manipulation_planner_policy.py: 377] +05/18 14:41:04 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 14:41:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:41:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.105s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:41:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.728s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:41:07 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:41:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:41:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:41:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:41:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:41:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:41:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:41:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.139135m [env.py: 870] +05/18 14:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:41:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44337923 -0.90856751 -0.13913519] yaw=-78.1deg [env.py: 1019] +05/18 14:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -101.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -75.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:41:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=187.1ms, total=187.2ms [env.py: 1075] +05/18 14:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.443, -0.909, -0.139) [env.py: 1079] +05/18 14:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.1 deg [env.py: 1082] +05/18 14:41:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.966m [env.py: 1086] +05/18 14:41:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:41:09 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/18 14:41:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.074s [base_object_manipulation_planner_policy.py: 377] +05/18 14:41:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:41:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:41:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:41:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.075s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:41:13 INFO: [Worker 0] Feasible grasp found 43 (originally 43): w/ 0.804[m] 134.599[deg] [grasp_sample.py: 596] +05/18 14:41:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:41:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:41:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:41:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:42:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:42:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:42:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:43:10 INFO: [Worker 0] Worker 0 house 1 episode 70 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:43:32 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/dresser/sim_chunks/chunk_026 [pipeline.py: 1174] +05/18 14:43:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_026 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:43:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:43:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:43:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_026 [save_utils.py: 785] +05/18 14:43:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_026 in 13.40s (batch: 3.00s, save: 10.40s) [pipeline.py: 300] +05/18 14:43:46 INFO: [Worker 0] [PROFILE] Episode 70 house 1 success=True episode_total=0.83s: + episode_total: mean=53.74s, total=161.21s, count=3, min=210.9ms, max=157664.0ms + sensor_polling: mean=359.3ms, total=107.78s, count=300, min=343.2ms, max=598.0ms + save_trajectories: mean=10.40s, total=10.40s, count=1, min=10395.4ms, max=10395.4ms + physics_step: mean=22.6ms, total=6.79s, count=300, min=16.4ms, max=30.4ms + save_batch_prep: mean=3.00s, total=3.00s, count=1, min=3003.1ms, max=3003.1ms + task_specific_sample: mean=342.0ms, total=1.03s, count=3, min=206.1ms, max=426.5ms + task_sampling: mean=412.6ms, total=825.3ms, count=2, min=396.2ms, max=429.1ms + task_sampling_failed: mean=210.8ms, total=210.8ms, count=1, min=210.8ms, max=210.8ms + scene_randomize: mean=1.4ms, total=4.3ms, count=3, min=1.1ms, max=2.1ms + mj_forward_sync: mean=443.0us, total=1.3ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=16.9us, 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 14:43:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:43:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:43:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:43:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:43:48 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 14:43:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:43:48 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 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185274m [env.py: 870] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:43:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.09759775 -1.14762633 -0.18527426] yaw=-16.4deg [env.py: 1019] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.71971494 -0.83588212 -0.18527426] yaw=-48.6deg [env.py: 1019] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5733698 -0.84520404 -0.18527426] yaw=-67.5deg [env.py: 1019] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:43:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=262.0ms, total=262.0ms [env.py: 1075] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.098, -1.148, -0.185) [env.py: 1079] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -16.4 deg [env.py: 1082] +05/18 14:43:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.033m [env.py: 1086] +05/18 14:43:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:43:48 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/18 14:43:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.094s [base_object_manipulation_planner_policy.py: 377] +05/18 14:43:48 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 14:43:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:43:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.627s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:43:51 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:43:53 WARNING: [Worker 0] No trajectory data to save for chunk_026 [pipeline.py: 234] +05/18 14:43:53 WARNING: [Worker 0] No trajectory data to save for chunk_026 [pipeline.py: 234] +05/18 14:43:53 INFO: [Worker 0] Worker 0 completed house 1: 17/24 successful episodes [pipeline.py: 1323] +05/18 14:43:53 INFO: [Worker 0] [PROFILE] House 1 complete: 17/24 successful, 24 episodes, total_time=6048.62s + House averages: + episode_total: mean=49.53s, total=3566.48s, count=72, min=172.4ms, max=173879.2ms + sensor_polling: mean=363.1ms, total=2065.76s, count=5690, min=335.1ms, max=605.7ms + save_trajectories: mean=9.52s, total=161.92s, count=17, min=8653.0ms, max=10440.2ms + physics_step: mean=22.7ms, total=129.12s, count=5690, min=14.2ms, max=34.0ms + save_batch_prep: mean=2.81s, total=47.72s, count=17, min=2681.7ms, max=3003.1ms + task_sampling: mean=531.3ms, total=33.47s, count=63, min=343.5ms, max=5456.7ms + task_specific_sample: mean=418.0ms, total=30.10s, count=72, min=168.8ms, max=726.0ms + scene_load: mean=4.99s, total=4.99s, count=1, min=4990.1ms, max=4990.1ms + scene_env_create: mean=2.84s, total=2.84s, count=1, min=2840.9ms, max=2840.9ms + scene_compile: mean=1.95s, total=1.95s, count=1, min=1952.8ms, max=1952.8ms + task_sampling_failed: mean=208.0ms, total=1.87s, count=9, min=172.4ms, max=304.2ms + compile_mujoco: mean=1.27s, total=1.27s, count=1, min=1271.1ms, max=1271.1ms + compile_xml_load: mean=584.5ms, total=584.5ms, count=1, min=584.5ms, max=584.5ms + scene_init: mean=135.4ms, total=135.4ms, count=1, min=135.4ms, max=135.4ms + scene_randomize: mean=1.6ms, total=112.6ms, count=72, min=1.0ms, max=3.0ms + scene_asset_install: mean=60.8ms, total=60.8ms, count=1, min=60.8ms, max=60.8ms + compile_aux_objects: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms + compile_aux_policy_objects: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms + asset_install_grasps: mean=39.8ms, total=39.8ms, count=1, min=39.8ms, max=39.8ms + mj_forward_sync: mean=444.9us, total=32.0ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + asset_install_objects: mean=18.0ms, total=18.0ms, count=1, min=18.0ms, max=18.0ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=17.3us, total=1.1ms, count=63, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/18 14:43:53 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/18 14:43:53 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 24 episodes, total_time=6048.62s + Worker averages: + episode_total: mean=49.53s, total=3566.48s, count=72, min=172.4ms, max=173879.2ms + sensor_polling: mean=363.1ms, total=2065.76s, count=5690, min=335.1ms, max=605.7ms + save_trajectories: mean=9.52s, total=161.92s, count=17, min=8653.0ms, max=10440.2ms + physics_step: mean=22.7ms, total=129.12s, count=5690, min=14.2ms, max=34.0ms + save_batch_prep: mean=2.81s, total=47.72s, count=17, min=2681.7ms, max=3003.1ms + task_sampling: mean=531.3ms, total=33.47s, count=63, min=343.5ms, max=5456.7ms + task_specific_sample: mean=418.0ms, total=30.10s, count=72, min=168.8ms, max=726.0ms + scene_load: mean=4.99s, total=4.99s, count=1, min=4990.1ms, max=4990.1ms + scene_env_create: mean=2.84s, total=2.84s, count=1, min=2840.9ms, max=2840.9ms + scene_compile: mean=1.95s, total=1.95s, count=1, min=1952.8ms, max=1952.8ms + task_sampling_failed: mean=208.0ms, total=1.87s, count=9, min=172.4ms, max=304.2ms + compile_mujoco: mean=1.27s, total=1.27s, count=1, min=1271.1ms, max=1271.1ms + compile_xml_load: mean=584.5ms, total=584.5ms, count=1, min=584.5ms, max=584.5ms + scene_init: mean=135.4ms, total=135.4ms, count=1, min=135.4ms, max=135.4ms + scene_randomize: mean=1.6ms, total=112.6ms, count=72, min=1.0ms, max=3.0ms + scene_asset_install: mean=60.8ms, total=60.8ms, count=1, min=60.8ms, max=60.8ms + compile_aux_objects: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms + compile_aux_policy_objects: mean=58.2ms, total=58.2ms, count=1, min=58.2ms, max=58.2ms + asset_install_grasps: mean=39.8ms, total=39.8ms, count=1, min=39.8ms, max=39.8ms + mj_forward_sync: mean=444.9us, total=32.0ms, count=72, min=0.4ms, max=0.6ms + compile_robot_add: mean=29.5ms, total=29.5ms, count=1, min=29.5ms, max=29.5ms + asset_install_objects: mean=18.0ms, total=18.0ms, count=1, min=18.0ms, max=18.0ms + asset_install_scene: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + policy_setup: mean=17.3us, total=1.1ms, count=63, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/18 14:43:55 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/18 14:43:55 INFO: Success count: 17, Total count: 24 [pipeline.py: 1491] +05/18 14:43:55 INFO: Success rate: 70.83% [pipeline.py: 1492] diff --git a/dresser/sim/chunk_026/trajectories_batch_1_of_1_cam_rand.h5 b/dresser/sim/chunk_026/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5cf163bc0acd3ebbffdbaf34820b9725fa2487ba --- /dev/null +++ b/dresser/sim/chunk_026/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e588a5f29d9a480db444894d7787374bac0a5e479743a0d91a8a896d6a2afde4 +size 1188996674