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+oid sha256:46352eb941057d263cf44cf43799abca13535cb7db8e2d16f2a93c1e444d1634 +size 580417 diff --git a/dresser/sim/chunk_063/experiment_config_20260518_134225.pkl b/dresser/sim/chunk_063/experiment_config_20260518_134225.pkl new file mode 100644 index 0000000000000000000000000000000000000000..7546e18f6b41b435e60cac9fe35ea735a17e2862 --- /dev/null +++ b/dresser/sim/chunk_063/experiment_config_20260518_134225.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a18fb44458dac44b0069abeb77ab1c89e406e0b3f74d5910205cb8b07bac6ae +size 8144 diff --git a/dresser/sim/chunk_063/running_log.log b/dresser/sim/chunk_063/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..7e49ee0191417a25dc5964cdcd6164d7ac052b3f --- /dev/null +++ b/dresser/sim/chunk_063/running_log.log @@ -0,0 +1,4384 @@ +05/18 13:42:25 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 640] +05/18 13:42:25 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 13:42:25 INFO: Evaluation configuration: [pipeline.py: 1366] +05/18 13:42:25 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_063'), + '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': 20063, + 'shared_output_dir': True, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'any_inst_of_category': True, + 'articulation_object_name': None, + 'enable_rendering': True, + 'joint_goal_position': None, + 'joint_index': 0, + 'joint_name': None, + 'joint_start_position': None, + 'object_poses': None, + 'pickup_obj_goal_pose': None, + 'pickup_obj_name': None, + 'pickup_obj_start_pose': None, + 'place_target_name': None, + 'receptacle_name': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'robot_base_pose': None, + 'succ_pos_threshold': 0.01, + 'task_cls': , + 'task_success_threshold': 0.15, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset': None, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 300, + 'task_sampler_config': {'absolute_robot_base_z': 0.86, + 'absolute_robot_base_z_jitter_range': (-0.2, -0.1), + 'added_pickup_class_max_uids': None, + 'added_pickup_class_rank': None, + 'added_pickup_namespace': 'pickup/', + 'added_pickup_objects': None, + 'base_pose_sampling_radius_range': (0.8, 1.1), + 'base_pose_sampling_theta_range_rad': (1.6, 2.8), + 'check_robot_placement_visibility': True, + 'dataset_name': 'procthor-10k', + 'enable_texture_randomization': False, + 'episodes_per_added_pickup': 1, + 'fixed_joint_index': 0, + 'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 1, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/18 13:42:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/18 13:42:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 13:42:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 13:42:25 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 13:42:30 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/FloorPlan1_physics.xml [task_sampler.py: 797] +05/18 13:42:30 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 13:42:30 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 13:42:30 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 13:42:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:42:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:42:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:42:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:42:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140514m [env.py: 870] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:42:30 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.4397018 -1.04485342 -0.1405136 ] yaw=-71.2deg [env.py: 1019] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 169.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.10971159 -1.14193952 -0.1405136 ] yaw=-56.8deg [env.py: 1019] +05/18 13:42:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:42:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=24.8ms, retries=277.1ms, total=301.9ms [env.py: 1075] +05/18 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.440, -1.045, -0.141) [env.py: 1079] +05/18 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.2 deg [env.py: 1082] +05/18 13:42:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.855m [env.py: 1086] +05/18 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:42:31 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 13:43:08 INFO: [Worker 0] Warmed up parallel IK solver in 37.464s [base_object_manipulation_planner_policy.py: 377] +05/18 13:43:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:43:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:43:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:43:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.509s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:43:12 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.946[m] 77.501[deg] [grasp_sample.py: 596] +05/18 13:43:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:43:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:43:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:43:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:43:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:43:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:43:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:43:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:44:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:44:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:44:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:44:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:44:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.994s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:44:12 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.566[m] 46.595[deg] [grasp_sample.py: 596] +05/18 13:44:12 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:44:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:44:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:44:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:30 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:44:30 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:44:30 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 13:44:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:44:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:44:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.966s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:44:35 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.566[m] 46.598[deg] [grasp_sample.py: 596] +05/18 13:44:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:44:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:44:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:44:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:44:52 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:44:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:44:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:44:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:44:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:44:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.948s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:44:57 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.566[m] 46.598[deg] [grasp_sample.py: 596] +05/18 13:44:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:44:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:44:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:45:14 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 13:45:15 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 13:45:15 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=False episode_total=6.19s: + episode_total: mean=169.97s, total=169.97s, count=1, min=169972.1ms, max=169972.1ms + sensor_polling: mean=472.4ms, total=50.55s, count=107, min=444.2ms, max=536.5ms + task_sampling: mean=6.19s, total=6.19s, count=1, min=6190.9ms, max=6190.9ms + scene_load: mean=5.55s, total=5.55s, count=1, min=5552.6ms, max=5552.6ms + scene_env_create: mean=3.81s, total=3.81s, count=1, min=3806.7ms, max=3806.7ms + physics_step: mean=28.0ms, total=3.00s, count=107, min=19.7ms, max=35.5ms + scene_compile: mean=1.47s, total=1.47s, count=1, min=1472.7ms, max=1472.7ms + compile_mujoco: mean=1.04s, total=1.04s, count=1, min=1038.8ms, max=1038.8ms + task_specific_sample: mean=634.7ms, total=634.7ms, count=1, min=634.7ms, max=634.7ms + compile_xml_load: mean=334.3ms, total=334.3ms, count=1, min=334.3ms, max=334.3ms + scene_init: mean=155.8ms, total=155.8ms, count=1, min=155.8ms, max=155.8ms + scene_asset_install: mean=117.1ms, total=117.1ms, count=1, min=117.1ms, max=117.1ms + compile_aux_objects: mean=78.0ms, total=78.0ms, count=1, min=78.0ms, max=78.0ms + compile_aux_policy_objects: mean=77.9ms, total=77.9ms, count=1, min=77.9ms, max=77.9ms + asset_install_scene: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + asset_install_grasps: mean=48.5ms, total=48.5ms, count=1, min=48.5ms, max=48.5ms + asset_install_objects: mean=14.1ms, total=14.1ms, count=1, min=14.1ms, max=14.1ms + compile_robot_add: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + scene_randomize: mean=1.6ms, total=1.6ms, count=1, min=1.6ms, max=1.6ms + mj_forward_sync: mean=668.5us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=34.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:45:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:45:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:45:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:45:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:45:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:45:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:45:17 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 13:45:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:45:17 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 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161460m [env.py: 870] +05/18 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:45:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 6.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 161.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -117.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.00249774 -1.34557394 -0.16146011] yaw=-35.7deg [env.py: 1019] +05/18 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:45:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=237.9ms, total=238.0ms [env.py: 1075] +05/18 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.002, -1.346, -0.161) [env.py: 1079] +05/18 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.7 deg [env.py: 1082] +05/18 13:45:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.023m [env.py: 1086] +05/18 13:45:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:45:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:45:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:45:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:45:17 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 13:45:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 13:45:17 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 13:45:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:45:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:45:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.014s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:45:22 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:45:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:45:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:45:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:45:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:45:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:45:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:45:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:45:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:45:24 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 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170508m [env.py: 870] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:45:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.71814546 -0.7752875 -0.1705082 ] yaw=-95.8deg [env.py: 1019] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -104.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -14.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -59.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12844492 -1.27684118 -0.1705082 ] yaw=-1.0deg [env.py: 1019] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.09317934 -1.30884355 -0.1705082 ] yaw=-13.9deg [env.py: 1019] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:45:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=261.5ms, total=261.5ms [env.py: 1075] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.718, -0.775, -0.171) [env.py: 1079] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.8 deg [env.py: 1082] +05/18 13:45:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/18 13:45:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:45:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:45:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:45:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:45:25 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 13:45:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.125s [base_object_manipulation_planner_policy.py: 377] +05/18 13:45:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:45:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:45:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:45:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.576s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:45:27 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.946[m] 87.739[deg] [grasp_sample.py: 596] +05/18 13:45:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:45:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:45:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:45:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:45:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:05 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:46:05 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:46:05 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:46:05 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:05 INFO: [Worker 0] Collision-checked 512 grasps in 0.133s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.627s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:07 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.787[m] 69.910[deg] [grasp_sample.py: 596] +05/18 13:46:08 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:46:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:10 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 13:46:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:10 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 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177550m [env.py: 870] +05/18 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.12219814 -1.11166319 -0.17755013] yaw=-12.4deg [env.py: 1019] +05/18 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -3.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 45.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -52.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.11946151 -1.09072122 -0.17755013] yaw=-43.9deg [env.py: 1019] +05/18 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=236.5ms, total=236.5ms [env.py: 1075] +05/18 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.122, -1.112, -0.178) [env.py: 1079] +05/18 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -12.4 deg [env.py: 1082] +05/18 13:46:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.034m [env.py: 1086] +05/18 13:46:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:11 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:11 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 13:46:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.012s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:46:16 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:46:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:46:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:18 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 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163546m [env.py: 870] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 57.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 57.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55045849 -0.82719034 -0.16354574] yaw=-57.6deg [env.py: 1019] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -123.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.11602677 -1.27467594 -0.16354574] yaw=-17.6deg [env.py: 1019] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.11794951 -1.33743144 -0.16354574] yaw=-15.2deg [env.py: 1019] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=246.1ms, total=246.1ms [env.py: 1075] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.550, -0.827, -0.164) [env.py: 1079] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/18 13:46:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m [env.py: 1086] +05/18 13:46:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:18 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:19 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 13:46:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.892s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:31 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.738[m] 74.541[deg] [grasp_sample.py: 596] +05/18 13:46:32 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:46:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:46:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:34 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 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100809m [env.py: 870] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -36.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -73.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -16.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.59393239 -1.00598297 -0.10080915] yaw=-40.6deg [env.py: 1019] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.13086794 -1.14322433 -0.10080915] yaw=-57.4deg [env.py: 1019] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=230.6ms, total=230.7ms [env.py: 1075] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.594, -1.006, -0.101) [env.py: 1079] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.6 deg [env.py: 1082] +05/18 13:46:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.808m [env.py: 1086] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:35 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:46:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.535s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:36 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.782[m] 80.541[deg] [grasp_sample.py: 596] +05/18 13:46:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:46:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:46:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:46:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:47:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:17 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:47:17 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:47:17 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 13:47:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.138s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:20 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.580[m] 56.451[deg] [grasp_sample.py: 596] +05/18 13:47:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:47:21 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:47:21 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:47:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:37 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:47:37 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:47:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:47:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.066s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:39 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.580[m] 56.451[deg] [grasp_sample.py: 596] +05/18 13:47:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:47:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:47:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:47:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:47:57 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:47:57 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:47:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:47:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.436s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:59 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.580[m] 56.451[deg] [grasp_sample.py: 596] +05/18 13:47:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:48:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:48:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:48:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:48:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:48:16 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 13:48:17 INFO: [Worker 0] Worker 0 house 1 episode 5 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 13:48:17 INFO: [Worker 0] [PROFILE] Episode 5 house 1 success=False episode_total=2.81s: + episode_total: mean=34.62s, total=173.08s, count=5, min=5802.2ms, max=102678.6ms + sensor_polling: mean=473.6ms, total=61.10s, count=129, min=449.9ms, max=525.6ms + physics_step: mean=28.6ms, total=3.68s, count=129, min=19.8ms, max=39.0ms + task_sampling: mean=561.5ms, total=2.81s, count=5, min=537.9ms, max=577.6ms + task_specific_sample: mean=558.2ms, total=2.79s, count=5, min=534.9ms, max=574.3ms + scene_randomize: mean=1.7ms, total=8.3ms, count=5, min=1.6ms, max=1.8ms + mj_forward_sync: mean=572.0us, total=2.9ms, count=5, min=0.5ms, max=0.6ms + policy_setup: mean=22.8us, 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 13:48:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:48:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:48:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:48:19 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 13:48:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:48:19 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 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120375m [env.py: 870] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:48:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -18.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -44.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -51.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -15.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -118.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.30750987 -1.22735078 -0.12037458] yaw=-59.7deg [env.py: 1019] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.59201144 -0.91513846 -0.12037458] yaw=-49.9deg [env.py: 1019] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:48:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=235.1ms, total=235.1ms [env.py: 1075] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.308, -1.227, -0.120) [env.py: 1079] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg [env.py: 1082] +05/18 13:48:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.816m [env.py: 1086] +05/18 13:48:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:48:19 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 13:48:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 13:48:19 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 13:48:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:48:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.150s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:48:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.411s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:48:25 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.603[m] 116.287[deg] [grasp_sample.py: 596] +05/18 13:48:27 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:48:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:48:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:48:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:48:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:48:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:48:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:48:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.173m, effective arm-mount z=0.687m (base_body_z=-0.173m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173107m [env.py: 870] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:48:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:48:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -99.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 68.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.71780048 -0.76016592 -0.17310747] yaw=-103.7deg [env.py: 1019] +05/18 13:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 55.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25426709 -1.0516137 -0.17310747] yaw=-61.6deg [env.py: 1019] +05/18 13:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:48:29 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=241.9ms, total=241.9ms [env.py: 1075] +05/18 13:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.718, -0.760, -0.173) [env.py: 1079] +05/18 13:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -103.7 deg [env.py: 1082] +05/18 13:48:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.998m [env.py: 1086] +05/18 13:48:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:48:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:48:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:48:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:48:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:48:29 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 13:48:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 13:48:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:48:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:48:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:48:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.516s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:48:46 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.724[m] 112.729[deg] [grasp_sample.py: 596] +05/18 13:48:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:48:47 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:48:47 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:48:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:50:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:50:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:50:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:51:21 INFO: [Worker 0] Worker 0 house 1 episode 7 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:51:43 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 13:51:43 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:51:43 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/18 13:51:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:51:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 13:51:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 14.09s (batch: 3.68s, save: 10.41s) [pipeline.py: 300] +05/18 13:51:57 INFO: [Worker 0] [PROFILE] Episode 7 house 1 success=True episode_total=1.10s: + episode_total: mean=108.52s, total=217.03s, count=2, min=8128.7ms, max=208901.7ms + sensor_polling: mean=486.5ms, total=140.12s, count=288, min=453.5ms, max=568.8ms + save_trajectories: mean=10.41s, total=10.41s, count=1, min=10407.5ms, max=10407.5ms + physics_step: mean=32.7ms, total=9.43s, count=288, min=23.5ms, max=46.2ms + save_batch_prep: mean=3.68s, total=3.68s, count=1, min=3683.0ms, max=3683.0ms + task_sampling: mean=551.5ms, total=1.10s, count=2, min=550.6ms, max=552.5ms + task_specific_sample: mean=548.5ms, total=1.10s, count=2, min=547.6ms, max=549.4ms + scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.5ms, max=1.6ms + mj_forward_sync: mean=555.0us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=28.7us, total=0.1ms, 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 13:51:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:51:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:51:59 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:51:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:51:59 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:51:59 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:51:59 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:51:59 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.160m, effective arm-mount z=0.700m (base_body_z=-0.160m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159828m [env.py: 870] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:51:59 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -174.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 54.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -111.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.56551737 -0.84946689 -0.15982838] yaw=-93.7deg [env.py: 1019] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:51:59 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=262.5ms, total=262.5ms [env.py: 1075] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.566, -0.849, -0.160) [env.py: 1079] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -93.7 deg [env.py: 1082] +05/18 13:51:59 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.962m [env.py: 1086] +05/18 13:51:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:51:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:51:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:00 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:00 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 13:52:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.972s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:05 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.921[m] 39.165[deg] [grasp_sample.py: 596] +05/18 13:52:07 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:52:08 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:08 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:08 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:08 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:08 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:08 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:08 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155711m [env.py: 870] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -142.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 30.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.80268907 -0.67453321 -0.15571145] yaw=-98.4deg [env.py: 1019] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.1650977 -1.20152266 -0.15571145] yaw=-38.9deg [env.py: 1019] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=242.0ms, total=242.0ms [env.py: 1075] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.803, -0.675, -0.156) [env.py: 1079] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.4 deg [env.py: 1082] +05/18 13:52:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.067m [env.py: 1086] +05/18 13:52:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:09 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.944s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:52:14 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:52:16 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:16 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:16 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:16 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:16 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 13:52:16 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:16 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.108m, effective arm-mount z=0.752m (base_body_z=-0.108m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108238m [env.py: 870] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:16 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -72.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2189067 -1.36254784 -0.10823812] yaw=-14.9deg [env.py: 1019] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -138.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:16 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=247.9ms, total=247.9ms [env.py: 1075] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.219, -1.363, -0.108) [env.py: 1079] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -14.9 deg [env.py: 1082] +05/18 13:52:16 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.819m [env.py: 1086] +05/18 13:52:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:17 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:17 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 13:52:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.023s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:22 INFO: [Worker 0] Feasible grasp found 163 (originally 163): w/ 0.604[m] 118.882[deg] [grasp_sample.py: 596] +05/18 13:52:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:52:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:52:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:52:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:53:29 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:53:39 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:53:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:12 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 13:54:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:54:12 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:54:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:54:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.261s, found 98 non-colliding grasps [grasp_sample.py: 520] +05/18 13:54:14 INFO: [Worker 0] Feasibility-checked 98 grasps in 1.118s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:54:14 INFO: [Worker 0] Feasible grasp found 303 (originally 303): w/ 0.024[m] 1.927[deg] [grasp_sample.py: 596] +05/18 13:54:14 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:54:14 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:54:14 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:54:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:55:02 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:55:24 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 13:55:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:55:24 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 13:55:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:55:38 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 13:55:38 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 13.93s (batch: 3.77s, save: 10.16s) [pipeline.py: 300] +05/18 13:55:38 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=1.72s: + episode_total: mean=71.84s, total=215.51s, count=3, min=5755.6ms, max=202170.2ms + sensor_polling: mean=484.4ms, total=145.32s, count=300, min=458.1ms, max=572.5ms + save_trajectories: mean=10.16s, total=10.16s, count=1, min=10164.2ms, max=10164.2ms + physics_step: mean=32.2ms, total=9.66s, count=300, min=22.2ms, max=60.0ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3770.5ms, max=3770.5ms + task_sampling: mean=574.7ms, total=1.72s, count=3, min=557.2ms, max=596.8ms + task_specific_sample: mean=570.9ms, total=1.71s, count=3, min=553.7ms, max=592.1ms + scene_randomize: mean=2.1ms, total=6.2ms, count=3, min=1.6ms, max=3.0ms + mj_forward_sync: mean=670.8us, total=2.0ms, count=3, min=0.6ms, max=0.7ms + policy_setup: mean=19.1us, 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 13:55:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:55:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180994m [env.py: 870] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 5.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -100.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.12648567 -1.09455696 -0.18099376] yaw=-61.7deg [env.py: 1019] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:55:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=236.8ms, total=236.9ms [env.py: 1075] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.126, -1.095, -0.181) [env.py: 1079] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.7 deg [env.py: 1082] +05/18 13:55:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.041m [env.py: 1086] +05/18 13:55:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:55:41 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 13:55:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/18 13:55:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:55:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:55:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.977s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:55:46 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:55:46 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: No feasible grasp found [task_sampler.py: 396] +05/18 13:55:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:55:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153581m [env.py: 870] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 60.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 22.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.88093676 -0.85698983 -0.1535813 ] yaw=-78.5deg [env.py: 1019] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:55:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=251.3ms, total=251.4ms [env.py: 1075] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.881, -0.857, -0.154) [env.py: 1079] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.5 deg [env.py: 1082] +05/18 13:55:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.877m [env.py: 1086] +05/18 13:55:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:55:48 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 13:55:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.110s [base_object_manipulation_planner_policy.py: 377] +05/18 13:55:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:55:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:55:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.162s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.993s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:55:51 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.736[m] 55.186[deg] [grasp_sample.py: 596] +05/18 13:55:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:55:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:55:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:55:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:57:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:57:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:57:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:58:23 INFO: [Worker 0] Worker 0 house 1 episode 12 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:58:44 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 13:58:44 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:58:44 INFO: [Worker 0] Preparing episode data: 280 timesteps [save_utils.py: 278] +05/18 13:58:57 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:58:57 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 13:58:57 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 13.24s (batch: 3.78s, save: 9.47s) [pipeline.py: 300] +05/18 13:58:58 INFO: [Worker 0] [PROFILE] Episode 12 house 1 success=True episode_total=1.14s: + episode_total: mean=97.93s, total=195.87s, count=2, min=5814.7ms, max=190053.4ms + sensor_polling: mean=482.0ms, total=134.49s, count=279, min=454.0ms, max=599.3ms + save_trajectories: mean=9.47s, total=9.47s, count=1, min=9465.5ms, max=9465.5ms + physics_step: mean=31.7ms, total=8.85s, count=279, min=24.8ms, max=48.5ms + save_batch_prep: mean=3.78s, total=3.78s, count=1, min=3777.1ms, max=3777.1ms + task_sampling: mean=569.5ms, total=1.14s, count=2, min=564.9ms, max=574.0ms + task_specific_sample: mean=565.3ms, total=1.13s, count=2, min=560.5ms, max=570.1ms + scene_randomize: mean=2.3ms, total=4.6ms, count=2, min=1.6ms, max=2.9ms + mj_forward_sync: mean=635.7us, total=1.3ms, count=2, min=0.6ms, max=0.7ms + policy_setup: mean=23.4us, 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 13:58:59 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:58:59 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:00 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 13:59:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:00 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 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111629m [env.py: 870] +05/18 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -120.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 168.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.57515867 -0.82415014 -0.11162901] yaw=-55.7deg [env.py: 1019] +05/18 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=259.1ms, total=259.1ms [env.py: 1075] +05/18 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.575, -0.824, -0.112) [env.py: 1079] +05/18 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg [env.py: 1082] +05/18 13:59:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.981m [env.py: 1086] +05/18 13:59:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:00 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:59:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.833s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:59:02 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.876[m] 91.968[deg] [grasp_sample.py: 596] +05/18 13:59:04 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:59:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:59:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:06 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 13:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182331m [env.py: 870] +05/18 13:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.88891565 -0.7093304 -0.18233097] yaw=-80.2deg [env.py: 1019] +05/18 13:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 0.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -87.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=256.6ms, total=256.7ms [env.py: 1075] +05/18 13:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.889, -0.709, -0.182) [env.py: 1079] +05/18 13:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -80.2 deg [env.py: 1082] +05/18 13:59:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.024m [env.py: 1086] +05/18 13:59:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:06 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:59:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 72.246s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:00:19 INFO: [Worker 0] Feasible grasp found 2 (originally 2): w/ 0.854[m] 122.893[deg] [grasp_sample.py: 596] +05/18 14:00:21 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:00:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:00:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:00:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:00:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:00:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:00:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:00:22 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 14:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163494m [env.py: 870] +05/18 14:00:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:00:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -104.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.53811797 -0.83849947 -0.16349378] yaw=-76.6deg [env.py: 1019] +05/18 14:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -4.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -39.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.75105686 -0.81280717 -0.16349378] yaw=-83.1deg [env.py: 1019] +05/18 14:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:00:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=262.7ms, total=262.8ms [env.py: 1075] +05/18 14:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.538, -0.838, -0.163) [env.py: 1079] +05/18 14:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -76.6 deg [env.py: 1082] +05/18 14:00:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.983m [env.py: 1086] +05/18 14:00:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:00:23 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 14:00:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.145s [base_object_manipulation_planner_policy.py: 377] +05/18 14:00:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:00:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.599s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:00:35 INFO: [Worker 0] Feasible grasp found 385 (originally 78): w/ 0.926[m] 59.895[deg] [grasp_sample.py: 596] +05/18 14:00:37 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:00:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:00:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:00:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:00:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:00:39 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 14:00:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:00:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174299m [env.py: 870] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:00:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.37376993 -1.05817739 -0.17429904] yaw=-57.1deg [env.py: 1019] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25487366 -1.32650666 -0.17429904] yaw=-10.5deg [env.py: 1019] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 9.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:00:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=265.1ms, total=265.2ms [env.py: 1075] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.374, -1.058, -0.174) [env.py: 1079] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.1 deg [env.py: 1082] +05/18 14:00:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/18 14:00:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:00:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:00:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:00:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:00:39 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 14:00:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.112s [base_object_manipulation_planner_policy.py: 377] +05/18 14:00:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:00:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.162s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:00:51 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.729[m] 80.291[deg] [grasp_sample.py: 596] +05/18 14:00:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:00:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:00:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:02:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:02:23 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:03:25 INFO: [Worker 0] Worker 0 house 1 episode 16 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:03:47 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 14:03:47 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:03:47 INFO: [Worker 0] Preparing episode data: 284 timesteps [save_utils.py: 278] +05/18 14:04:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:04:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 14:04:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 14.19s (batch: 3.96s, save: 10.23s) [pipeline.py: 300] +05/18 14:04:02 INFO: [Worker 0] [PROFILE] Episode 16 house 1 success=True episode_total=2.36s: + episode_total: mean=74.14s, total=296.58s, count=4, min=4499.4ms, max=203061.7ms + sensor_polling: mean=486.1ms, total=137.56s, count=283, min=425.0ms, max=602.8ms + save_trajectories: mean=10.23s, total=10.23s, count=1, min=10227.8ms, max=10227.8ms + physics_step: mean=32.6ms, total=9.23s, count=283, min=24.5ms, max=48.5ms + save_batch_prep: mean=3.96s, total=3.96s, count=1, min=3958.6ms, max=3958.6ms + task_sampling: mean=589.7ms, total=2.36s, count=4, min=576.3ms, max=598.2ms + task_specific_sample: mean=585.9ms, total=2.34s, count=4, min=572.7ms, max=594.4ms + scene_randomize: mean=2.1ms, total=8.3ms, count=4, min=1.5ms, max=3.1ms + mj_forward_sync: mean=634.1us, total=2.5ms, count=4, min=0.5ms, max=0.8ms + policy_setup: mean=18.3us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:04:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:03 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 14:04:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125118m [env.py: 870] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.36337626 -0.8820503 -0.12511782] yaw=-53.3deg [env.py: 1019] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 86.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -139.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.77718009 -0.7706353 -0.12511782] yaw=-106.9deg [env.py: 1019] +05/18 14:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -74.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.81876005 -0.7004186 -0.12511782] yaw=-97.9deg [env.py: 1019] +05/18 14:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:04:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=257.6ms, total=257.6ms [env.py: 1075] +05/18 14:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.363, -0.882, -0.125) [env.py: 1079] +05/18 14:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.3 deg [env.py: 1082] +05/18 14:04:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/18 14:04:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:04:04 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 14:04:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/18 14:04:04 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 14:04:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.135s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.641s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:04:12 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.841[m] 117.197[deg] [grasp_sample.py: 596] +05/18 14:04:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:04:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:04:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:04:14 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 14:05:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:05:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:06:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:06:51 INFO: [Worker 0] Worker 0 house 1 episode 17 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:07:14 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 14:07:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:07:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:07:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:07:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 14:07:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 14.82s (batch: 3.95s, save: 10.86s) [pipeline.py: 300] +05/18 14:07:30 INFO: [Worker 0] [PROFILE] Episode 17 house 1 success=True episode_total=0.60s: + episode_total: mean=206.16s, total=206.16s, count=1, min=206159.3ms, max=206159.3ms + sensor_polling: mean=484.0ms, total=145.20s, count=300, min=442.0ms, max=584.7ms + save_trajectories: mean=10.86s, total=10.86s, count=1, min=10862.8ms, max=10862.8ms + physics_step: mean=31.6ms, total=9.47s, count=300, min=24.2ms, max=43.8ms + save_batch_prep: mean=3.95s, total=3.95s, count=1, min=3953.4ms, max=3953.4ms + task_sampling: mean=603.2ms, total=603.2ms, count=1, min=603.2ms, max=603.2ms + task_specific_sample: mean=598.5ms, total=598.5ms, count=1, min=598.5ms, max=598.5ms + scene_randomize: mean=3.1ms, total=3.1ms, count=1, min=3.1ms, max=3.1ms + mj_forward_sync: mean=740.0us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=18.0us, 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 14:07:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:07:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:31 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 14:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170017m [env.py: 870] +05/18 14:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.44025999 -0.94848385 -0.17001734] yaw=-73.3deg [env.py: 1019] +05/18 14:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[-0.00735665 -1.2646392 -0.17001734] yaw=-18.4deg [env.py: 1019] +05/18 14:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -61.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.13748611 -1.07574117 -0.17001734] yaw=-26.9deg [env.py: 1019] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:07:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=221.9ms, total=221.9ms [env.py: 1075] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.440, -0.948, -0.170) [env.py: 1079] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.3 deg [env.py: 1082] +05/18 14:07:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.934m [env.py: 1086] +05/18 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:32 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:07:32 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 14:07:32 INFO: [Worker 0] Warmed up parallel IK solver in 0.147s [base_object_manipulation_planner_policy.py: 377] +05/18 14:07:32 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 14:07:32 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.136s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:07:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.931s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:07:41 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.896[m] 35.664[deg] [grasp_sample.py: 596] +05/18 14:07:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:07:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:07:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:07:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:09:15 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:09:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:09:31 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:26 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:10:49 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 14:10:49 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:10:49 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:11:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:11:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 14:11:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 14.43s (batch: 3.98s, save: 10.44s) [pipeline.py: 300] +05/18 14:11:04 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=0.56s: + episode_total: mean=212.71s, total=212.71s, count=1, min=212711.9ms, max=212711.9ms + sensor_polling: mean=482.9ms, total=144.87s, count=300, min=453.2ms, max=588.0ms + save_trajectories: mean=10.44s, total=10.44s, count=1, min=10444.7ms, max=10444.7ms + physics_step: mean=31.8ms, total=9.54s, count=300, min=24.4ms, max=42.8ms + save_batch_prep: mean=3.98s, total=3.98s, count=1, min=3982.3ms, max=3982.3ms + task_sampling: mean=562.1ms, total=562.1ms, count=1, min=562.1ms, max=562.1ms + task_specific_sample: mean=557.5ms, total=557.5ms, count=1, min=557.5ms, max=557.5ms + scene_randomize: mean=3.0ms, total=3.0ms, count=1, min=3.0ms, max=3.0ms + mj_forward_sync: mean=667.1us, total=0.7ms, count=1, min=0.7ms, max=0.7ms + policy_setup: mean=20.5us, 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 14:11:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:06 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 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138741m [env.py: 870] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -106.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.83849472 -0.83082616 -0.13874123] yaw=-107.7deg [env.py: 1019] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.78507194 -0.6827067 -0.13874123] yaw=-74.3deg [env.py: 1019] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18227779 -1.00669118 -0.13874123] yaw=-38.9deg [env.py: 1019] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=129.8ms, total=129.8ms [env.py: 1075] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.838, -0.831, -0.139) [env.py: 1079] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -107.7 deg [env.py: 1082] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.907m [env.py: 1086] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:06 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:11:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.147s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:09 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.806[m] 98.614[deg] [grasp_sample.py: 596] +05/18 14:11:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:11:10 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:11:10 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:11:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:11:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:11:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:11:49 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 14:11:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.651s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:52 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.641[m] 73.227[deg] [grasp_sample.py: 596] +05/18 14:11:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:11:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:11:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:11:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:11:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:09 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:12:09 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:12:09 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 14:12:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:12:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:12:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.003s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:12:11 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.636[m] 72.633[deg] [grasp_sample.py: 596] +05/18 14:12:11 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:12:12 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:12:12 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:12:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:12:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:12:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:12:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:12:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:12:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.960s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:12:30 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.636[m] 72.633[deg] [grasp_sample.py: 596] +05/18 14:12:30 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:12:31 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:12:31 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:12:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:12:48 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:12:48 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:12:48 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:12:48 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=False episode_total=0.46s: + episode_total: mean=102.44s, total=102.44s, count=1, min=102437.4ms, max=102437.4ms + sensor_polling: mean=486.6ms, total=38.93s, count=80, min=454.5ms, max=563.2ms + physics_step: mean=28.3ms, total=2.26s, count=80, min=19.5ms, max=40.9ms + task_sampling: mean=459.5ms, total=459.5ms, count=1, min=459.5ms, max=459.5ms + task_specific_sample: mean=455.2ms, total=455.2ms, count=1, min=455.2ms, max=455.2ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=562.6us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=20.7us, 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 14:12:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:12:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:12:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:12:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:12:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:12:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:12:50 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 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173139m [env.py: 870] +05/18 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:12:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -21.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.49289573 -0.85524612 -0.17313899] yaw=-74.5deg [env.py: 1019] +05/18 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.55803152 -0.78599073 -0.17313899] yaw=-60.4deg [env.py: 1019] +05/18 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -22.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:12:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.3ms, total=240.4ms [env.py: 1075] +05/18 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.493, -0.855, -0.173) [env.py: 1079] +05/18 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.5 deg [env.py: 1082] +05/18 14:12:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.988m [env.py: 1086] +05/18 14:12:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:12:51 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 14:12:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.137s [base_object_manipulation_planner_policy.py: 377] +05/18 14:12:51 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:12:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:12:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.125s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.415s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:13:08 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.675[m] 72.058[deg] [grasp_sample.py: 596] +05/18 14:13:10 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:13:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:12 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 14:13:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.107m, effective arm-mount z=0.753m (base_body_z=-0.107m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106511m [env.py: 870] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.55483047 -0.76710359 -0.10651094] yaw=-50.5deg [env.py: 1019] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.15094552 -1.43796163 -0.10651094] yaw=-41.7deg [env.py: 1019] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -32.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -17.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:13:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=245.0ms, total=245.0ms [env.py: 1075] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.555, -0.767, -0.107) [env.py: 1079] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.5 deg [env.py: 1082] +05/18 14:13:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.042m [env.py: 1086] +05/18 14:13:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:13:12 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 14:13:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.109s [base_object_manipulation_planner_policy.py: 377] +05/18 14:13:12 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 14:13:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.124s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.991s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:13:18 ERROR: [Worker 0] Worker 0 house 1 episode 21 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:13:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:19 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 14:13:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.147m, effective arm-mount z=0.713m (base_body_z=-0.147m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147177m [env.py: 870] +05/18 14:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -122.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -143.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33335389 -1.18951017 -0.14717654] yaw=-25.8deg [env.py: 1019] +05/18 14:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53318773 -0.86134149 -0.14717654] yaw=-38.2deg [env.py: 1019] +05/18 14:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:13:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31267823 -1.20454918 -0.14717654] yaw=-48.2deg [env.py: 1019] +05/18 14:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:13:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=248.5ms, total=248.6ms [env.py: 1075] +05/18 14:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.333, -1.190, -0.147) [env.py: 1079] +05/18 14:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -25.8 deg [env.py: 1082] +05/18 14:13:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.821m [env.py: 1086] +05/18 14:13:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:13:20 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 14:13:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.107s [base_object_manipulation_planner_policy.py: 377] +05/18 14:13:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:13:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.205s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:13:25 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.770[m] 74.830[deg] [grasp_sample.py: 596] +05/18 14:13:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:13:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:13:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:13:27 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 14:14:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:15:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:01 INFO: [Worker 0] Worker 0 house 1 episode 22 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:16:22 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 14:16:22 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:16:22 INFO: [Worker 0] Preparing episode data: 292 timesteps [save_utils.py: 278] +05/18 14:16:37 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:16:37 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 14:16:37 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 14.42s (batch: 3.83s, save: 10.59s) [pipeline.py: 300] +05/18 14:16:37 INFO: [Worker 0] [PROFILE] Episode 22 house 1 success=True episode_total=1.68s: + episode_total: mean=74.59s, total=223.78s, count=3, min=5798.5ms, max=198089.5ms + sensor_polling: mean=482.2ms, total=140.33s, count=291, min=440.2ms, max=563.9ms + save_trajectories: mean=10.59s, total=10.59s, count=1, min=10588.4ms, max=10588.4ms + physics_step: mean=32.0ms, total=9.30s, count=291, min=25.2ms, max=46.7ms + save_batch_prep: mean=3.83s, total=3.83s, count=1, min=3834.5ms, max=3834.5ms + task_sampling: mean=561.6ms, total=1.68s, count=3, min=559.3ms, max=563.6ms + task_specific_sample: mean=558.1ms, total=1.67s, count=3, min=556.4ms, max=559.7ms + scene_randomize: mean=1.6ms, total=4.7ms, count=3, min=1.5ms, max=1.7ms + mj_forward_sync: mean=595.4us, total=1.8ms, count=3, min=0.5ms, max=0.7ms + policy_setup: mean=14.7us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:16:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:16:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:16:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:16:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:16:39 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 14:16:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:16:39 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 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160078m [env.py: 870] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:16:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 72.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4265848 -0.9448351 -0.16007846] yaw=-46.8deg [env.py: 1019] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 173.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.15122828 -1.26551344 -0.16007846] yaw=-13.2deg [env.py: 1019] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:16:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=262.6ms, total=262.7ms [env.py: 1075] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.427, -0.945, -0.160) [env.py: 1079] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg [env.py: 1082] +05/18 14:16:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.945m [env.py: 1086] +05/18 14:16:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:40 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:16:40 INFO: [Worker 0] Worker 0 house 1 episode 23/72 collected=0/12 [pipeline.py: 1044] +05/18 14:16:40 INFO: [Worker 0] Warmed up parallel IK solver in 0.142s [base_object_manipulation_planner_policy.py: 377] +05/18 14:16:40 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 14:16:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:16:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:16:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.231s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:16:45 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.585[m] 75.799[deg] [grasp_sample.py: 596] +05/18 14:16:46 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:16:46 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:16:46 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:17:43 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:17:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:17:58 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:18:56 INFO: [Worker 0] Worker 0 house 1 episode 23 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:19:16 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 14:19:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:19:16 INFO: [Worker 0] Preparing episode data: 251 timesteps [save_utils.py: 278] +05/18 14:19:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:19:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 14:19:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 12.39s (batch: 3.74s, save: 8.65s) [pipeline.py: 300] +05/18 14:19:29 INFO: [Worker 0] [PROFILE] Episode 23 house 1 success=True episode_total=0.60s: + episode_total: mean=169.37s, total=169.37s, count=1, min=169374.6ms, max=169374.6ms + sensor_polling: mean=480.6ms, total=120.14s, count=250, min=449.1ms, max=606.4ms + save_trajectories: mean=8.65s, total=8.65s, count=1, min=8647.0ms, max=8647.0ms + physics_step: mean=31.3ms, total=7.82s, count=250, min=22.2ms, max=40.4ms + save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3743.6ms, max=3743.6ms + task_sampling: mean=600.3ms, total=600.3ms, count=1, min=600.3ms, max=600.3ms + task_specific_sample: mean=595.3ms, total=595.3ms, count=1, min=595.3ms, max=595.3ms + scene_randomize: mean=3.3ms, total=3.3ms, count=1, min=3.3ms, max=3.3ms + mj_forward_sync: mean=793.4us, total=0.8ms, count=1, min=0.8ms, max=0.8ms + policy_setup: mean=22.7us, 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 14:19:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:30 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 14:19:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.125m, effective arm-mount z=0.735m (base_body_z=-0.125m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.124965m [env.py: 870] +05/18 14:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.91742772 -0.78075546 -0.12496479] yaw=-67.1deg [env.py: 1019] +05/18 14:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.70465999 -0.77807859 -0.12496479] yaw=-82.7deg [env.py: 1019] +05/18 14:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 177.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.63190352 -0.67986933 -0.12496479] yaw=-46.6deg [env.py: 1019] +05/18 14:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=254.0ms, total=254.1ms [env.py: 1075] +05/18 14:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.917, -0.781, -0.125) [env.py: 1079] +05/18 14:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.1 deg [env.py: 1082] +05/18 14:19:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.951m [env.py: 1086] +05/18 14:19:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:31 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.139s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:31 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 14:19:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.635s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:19:38 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.841[m] 96.861[deg] [grasp_sample.py: 596] +05/18 14:19:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:19:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:19:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:19:39 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 14:20:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:20:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:20:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:20:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:20:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.126s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:20:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.083s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:20:34 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.595[m] 62.386[deg] [grasp_sample.py: 596] +05/18 14:20:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:20:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:20:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:20:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:20:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:21:55 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:21:55 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:21:55 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 14:21:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:21:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 23.882s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:22:19 INFO: [Worker 0] Feasible grasp found 81 (originally 81): w/ 0.119[m] 12.806[deg] [grasp_sample.py: 596] +05/18 14:22:21 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +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=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, 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: -0.153056m [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=[ 0.16930503 -1.05645868 -0.15305649] yaw=-66.1deg [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 -54.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -159.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 54.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -131.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.40608071 -0.92930394 -0.15305649] yaw=-80.9deg [env.py: 1019] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +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, 2 collision-free, 1 visibility checks | map=0.0ms, retries=263.7ms, total=263.8ms [env.py: 1075] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.169, -1.056, -0.153) [env.py: 1079] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.1 deg [env.py: 1082] +05/18 14:22:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [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 25/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [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 0.136s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.004s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:22:29 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:22:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:31 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:22:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166152m [env.py: 870] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -26.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -176.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.49411907 -0.76888023 -0.16615237] yaw=-86.1deg [env.py: 1019] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 3.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.46822179 -1.04294655 -0.16615237] yaw=-73.1deg [env.py: 1019] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=250.9ms, total=251.0ms [env.py: 1075] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -0.769, -0.166) [env.py: 1079] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -86.1 deg [env.py: 1082] +05/18 14:22:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.065m [env.py: 1086] +05/18 14:22:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:22:31 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:31 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 14:22:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:32 INFO: [Worker 0] Collision-checked 512 grasps in 0.163s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.096s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:22:37 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:22:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:38 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 14:22:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:38 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 14:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.108998m [env.py: 870] +05/18 14:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -95.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 42.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 42.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.25039484 -1.21809927 -0.10899798] yaw=-21.6deg [env.py: 1019] +05/18 14:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=236.9ms, total=236.9ms [env.py: 1075] +05/18 14:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.250, -1.218, -0.109) [env.py: 1079] +05/18 14:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.6 deg [env.py: 1082] +05/18 14:22:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.868m [env.py: 1086] +05/18 14:22:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:22:39 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:22:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.164s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.930s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:22:52 INFO: [Worker 0] Feasible grasp found 113 (originally 113): w/ 0.682[m] 90.244[deg] [grasp_sample.py: 596] +05/18 14:22:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:22:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:22:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:22:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:24:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:24:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:24:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:25:12 INFO: [Worker 0] Worker 0 house 1 episode 27 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:25:33 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 14:25:33 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:25:33 INFO: [Worker 0] Preparing episode data: 268 timesteps [save_utils.py: 278] +05/18 14:25:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:25:45 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 14:25:45 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 12.80s (batch: 3.74s, save: 9.06s) [pipeline.py: 300] +05/18 14:25:46 INFO: [Worker 0] [PROFILE] Episode 27 house 1 success=True episode_total=2.33s: + episode_total: mean=92.50s, total=370.02s, count=4, min=5866.2ms, max=187446.6ms + sensor_polling: mean=482.2ms, total=212.66s, count=441, min=446.6ms, max=589.5ms + physics_step: mean=31.9ms, total=14.08s, count=441, min=20.8ms, max=51.0ms + save_trajectories: mean=9.06s, total=9.06s, count=1, min=9058.2ms, max=9058.2ms + save_batch_prep: mean=3.74s, total=3.74s, count=1, min=3737.9ms, max=3737.9ms + task_sampling: mean=583.1ms, total=2.33s, count=4, min=564.1ms, max=595.7ms + task_specific_sample: mean=579.2ms, total=2.32s, count=4, min=560.9ms, max=592.1ms + scene_randomize: mean=1.9ms, total=7.4ms, count=4, min=1.6ms, max=2.6ms + mj_forward_sync: mean=618.1us, total=2.5ms, count=4, min=0.6ms, max=0.7ms + policy_setup: mean=18.5us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:25:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:25:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:25:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:25:48 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 14:25:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:25:48 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 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190532m [env.py: 870] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:25:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 34.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 51.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.61884379 -0.73032719 -0.19053189] yaw=-49.7deg [env.py: 1019] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.88629583 -0.69909221 -0.19053189] yaw=-103.8deg [env.py: 1019] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.33656362 -1.1203242 -0.19053189] yaw=-48.8deg [env.py: 1019] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:25:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=223.4ms, total=223.4ms [env.py: 1075] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.619, -0.730, -0.191) [env.py: 1079] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.7 deg [env.py: 1082] +05/18 14:25:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/18 14:25:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:25:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:25:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:25:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:25:48 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 14:25:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.129s [base_object_manipulation_planner_policy.py: 377] +05/18 14:25:48 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 14:25:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:25:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:25:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.519s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:25:57 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.936[m] 93.952[deg] [grasp_sample.py: 596] +05/18 14:25:59 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:26:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:26:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:26:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:26:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:26:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:26:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:26:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:26:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:26:00 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 14:26:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:26:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.127m, effective arm-mount z=0.733m (base_body_z=-0.127m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126895m [env.py: 870] +05/18 14:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:26:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:26:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -135.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 164.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=240.1ms, total=240.2ms [env.py: 1105] +05/18 14:26:01 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:26:01 ERROR: [Worker 0] Worker 0 house 1 episode 29 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:26:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:26:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:26:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:26:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:26:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:26:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:26:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:26:02 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 14:26:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:26:02 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.119m, effective arm-mount z=0.741m (base_body_z=-0.119m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119101m [env.py: 870] +05/18 14:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:26:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:26:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -152.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 17.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -102.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -96.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.4479215 -1.07197349 -0.11910115] yaw=-49.8deg [env.py: 1019] +05/18 14:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:26:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=241.9ms, total=241.9ms [env.py: 1075] +05/18 14:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.448, -1.072, -0.119) [env.py: 1079] +05/18 14:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.8 deg [env.py: 1082] +05/18 14:26:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/18 14:26:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:26:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:26:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:26:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:26:03 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 14:26:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:26:03 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 14:26:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:26:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:26:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.933s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:26:08 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.539[m] 89.502[deg] [grasp_sample.py: 596] +05/18 14:26:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:26:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:26:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:26:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:27:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:27:16 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:27:20 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:27:20 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:27:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:27:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:27:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.205s, found 153 non-colliding grasps [grasp_sample.py: 520] +05/18 14:27:22 INFO: [Worker 0] Feasibility-checked 153 grasps in 1.008s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:27:22 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.062[m] 1.706[deg] [grasp_sample.py: 596] +05/18 14:27:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:27:22 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:27:22 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:27:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:27:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:27:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:28:45 INFO: [Worker 0] Worker 0 house 1 episode 30 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:29:06 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 14:29:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:29:06 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/18 14:29:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:29:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 14:29:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 13.75s (batch: 3.77s, save: 9.98s) [pipeline.py: 300] +05/18 14:29:21 INFO: [Worker 0] [PROFILE] Episode 30 house 1 success=True episode_total=1.11s: + episode_total: mean=69.86s, total=209.57s, count=3, min=252.9ms, max=198353.1ms + sensor_polling: mean=487.7ms, total=140.93s, count=289, min=454.3ms, max=608.4ms + save_trajectories: mean=9.98s, total=9.98s, count=1, min=9976.0ms, max=9976.0ms + physics_step: mean=32.3ms, total=9.34s, count=289, min=25.4ms, max=45.6ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3773.1ms, max=3773.1ms + task_specific_sample: mean=451.1ms, total=1.35s, count=3, min=246.9ms, max=554.3ms + task_sampling: mean=556.5ms, total=1.11s, count=2, min=556.0ms, max=557.1ms + task_sampling_failed: mean=252.9ms, total=252.9ms, count=1, min=252.9ms, max=252.9ms + scene_randomize: mean=2.0ms, total=6.0ms, count=3, min=1.5ms, max=2.4ms + mj_forward_sync: mean=574.5us, total=1.7ms, count=3, min=0.6ms, max=0.6ms + policy_setup: mean=19.5us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=3, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:29:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:23 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 14:29:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:23 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 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138559m [env.py: 870] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 40.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.32114152 -1.17529106 -0.13855907] yaw=-47.5deg [env.py: 1019] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.92072996 -0.88598317 -0.13855907] yaw=-93.6deg [env.py: 1019] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -106.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.74943162 -0.82251311 -0.13855907] yaw=-90.7deg [env.py: 1019] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=205.6ms, total=205.6ms [env.py: 1075] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.321, -1.175, -0.139) [env.py: 1079] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg [env.py: 1082] +05/18 14:29:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/18 14:29:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:23 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:29:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.445s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:29:25 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.763[m] 71.913[deg] [grasp_sample.py: 596] +05/18 14:29:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:29:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:29:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:29:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:30:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:30:54 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:30:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:31:58 INFO: [Worker 0] Worker 0 house 1 episode 31 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:32:20 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 14:32:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:32:20 INFO: [Worker 0] Preparing episode data: 291 timesteps [save_utils.py: 278] +05/18 14:32:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:32:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 14:32:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 14.03s (batch: 3.76s, save: 10.27s) [pipeline.py: 300] +05/18 14:32:34 INFO: [Worker 0] [PROFILE] Episode 31 house 1 success=True episode_total=0.53s: + episode_total: mean=191.75s, total=191.75s, count=1, min=191746.9ms, max=191746.9ms + sensor_polling: mean=477.1ms, total=138.37s, count=290, min=439.6ms, max=582.3ms + save_trajectories: mean=10.27s, total=10.27s, count=1, min=10272.8ms, max=10272.8ms + physics_step: mean=32.6ms, total=9.47s, count=290, min=21.8ms, max=52.7ms + save_batch_prep: mean=3.76s, total=3.76s, count=1, min=3755.4ms, max=3755.4ms + task_sampling: mean=529.3ms, total=529.3ms, count=1, min=529.3ms, max=529.3ms + task_specific_sample: mean=525.0ms, total=525.0ms, count=1, min=525.0ms, max=525.0ms + scene_randomize: mean=2.8ms, total=2.8ms, count=1, min=2.8ms, max=2.8ms + mj_forward_sync: mean=563.9us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=20.6us, 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 14:32:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:32:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:32:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:32:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:32:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:32:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:32:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:32:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:32:36 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 14:32:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:32:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.155m, effective arm-mount z=0.705m (base_body_z=-0.155m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154897m [env.py: 870] +05/18 14:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:32:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 63.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 1.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -121.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=231.4ms, total=231.4ms [env.py: 1105] +05/18 14:32:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:32:36 ERROR: [Worker 0] Worker 0 house 1 episode 32 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:32:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:32:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:32:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:32:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:32:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:32:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:32:38 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:32:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:32:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.169m, effective arm-mount z=0.691m (base_body_z=-0.169m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169064m [env.py: 870] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:32:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -93.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33948066 -1.04176305 -0.16906371] yaw=-65.8deg [env.py: 1019] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -118.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.66040015 -0.91052935 -0.16906371] yaw=-71.8deg [env.py: 1019] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.3865129 -0.8485825 -0.16906371] yaw=-85.9deg [env.py: 1019] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:32:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=156.7ms, total=156.7ms [env.py: 1075] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.339, -1.042, -0.169) [env.py: 1079] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.8 deg [env.py: 1082] +05/18 14:32:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m [env.py: 1086] +05/18 14:32:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:32:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:32:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:32:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:32:38 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 14:32:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.147s [base_object_manipulation_planner_policy.py: 377] +05/18 14:32:39 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:32:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:32:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:32:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.126s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:32:44 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.794[m] 84.219[deg] [grasp_sample.py: 596] +05/18 14:32:44 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:32:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:32:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:32:45 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 14:34:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:34:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:34:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:35:16 INFO: [Worker 0] Worker 0 house 1 episode 33 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:35:38 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 14:35:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:35:38 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/18 14:35:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:35:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 14:35:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 13.03s (batch: 3.77s, save: 9.26s) [pipeline.py: 300] +05/18 14:35:51 INFO: [Worker 0] [PROFILE] Episode 33 house 1 success=True episode_total=0.48s: + episode_total: mean=96.67s, total=193.35s, count=2, min=244.5ms, max=193104.5ms + sensor_polling: mean=486.5ms, total=139.63s, count=287, min=456.1ms, max=560.1ms + physics_step: mean=32.4ms, total=9.30s, count=287, min=23.9ms, max=38.5ms + save_trajectories: mean=9.26s, total=9.26s, count=1, min=9263.1ms, max=9263.1ms + save_batch_prep: mean=3.77s, total=3.77s, count=1, min=3768.1ms, max=3768.1ms + task_specific_sample: mean=355.5ms, total=711.1ms, count=2, min=238.3ms, max=472.8ms + task_sampling: mean=476.1ms, total=476.1ms, count=1, min=476.1ms, max=476.1ms + task_sampling_failed: mean=244.5ms, total=244.5ms, count=1, min=244.5ms, max=244.5ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.4ms, max=2.4ms + mj_forward_sync: mean=563.2us, total=1.1ms, count=2, min=0.5ms, max=0.6ms + policy_setup: mean=33.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:35:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:35:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:35:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:35:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:35:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:35:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:35:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:35:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:35:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163845m [env.py: 870] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:35:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -119.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -160.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -156.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.20565072 -1.30491695 -0.16384517] yaw=-31.2deg [env.py: 1019] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:35:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=223.6ms, total=223.7ms [env.py: 1075] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.206, -1.305, -0.164) [env.py: 1079] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.2 deg [env.py: 1082] +05/18 14:35:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.858m [env.py: 1086] +05/18 14:35:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:35:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:35:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:35:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:35:53 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 14:35:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s [base_object_manipulation_planner_policy.py: 377] +05/18 14:35:54 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:35:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:35:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:35:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.347s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:35:55 INFO: [Worker 0] Feasible grasp found 43 (originally 43): w/ 0.535[m] 81.182[deg] [grasp_sample.py: 596] +05/18 14:35:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:35:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:35:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:35:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:36:48 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:36:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:37:03 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 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:38:21 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 14:38:21 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:38:21 INFO: [Worker 0] Preparing episode data: 240 timesteps [save_utils.py: 278] +05/18 14:38:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:38:33 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 14:38:33 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 11.95s (batch: 3.61s, save: 8.34s) [pipeline.py: 300] +05/18 14:38:34 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.55s: + episode_total: mean=160.68s, total=160.68s, count=1, min=160678.8ms, max=160678.8ms + sensor_polling: mean=488.2ms, total=116.68s, count=239, min=458.8ms, max=572.3ms + save_trajectories: mean=8.34s, total=8.34s, count=1, min=8340.1ms, max=8340.1ms + physics_step: mean=32.4ms, total=7.74s, count=239, min=23.8ms, max=38.8ms + save_batch_prep: mean=3.61s, total=3.61s, count=1, min=3614.5ms, max=3614.5ms + task_sampling: mean=546.4ms, total=546.4ms, count=1, min=546.4ms, max=546.4ms + task_specific_sample: mean=542.5ms, total=542.5ms, count=1, min=542.5ms, max=542.5ms + scene_randomize: mean=2.4ms, total=2.4ms, count=1, min=2.4ms, max=2.4ms + mj_forward_sync: mean=565.0us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=18.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:38:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:38:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:38:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:38:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:38:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:38:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:38:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:38:35 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:38:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:38:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.199m, effective arm-mount z=0.661m (base_body_z=-0.199m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.199409m [env.py: 870] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:38:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.71240959 -0.72725579 -0.19940899] yaw=-56.3deg [env.py: 1019] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -21.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:38:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=244.0ms, total=244.1ms [env.py: 1075] +05/18 14:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.712, -0.727, -0.199) [env.py: 1079] +05/18 14:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.3 deg [env.py: 1082] +05/18 14:38:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/18 14:38:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:38:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:38:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:38:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:38:36 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 14:38:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.148s [base_object_manipulation_planner_policy.py: 377] +05/18 14:38:36 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 14:38:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:38:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:39:14 INFO: [Worker 0] Feasibility-checked 256 grasps in 38.283s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:39:14 INFO: [Worker 0] Feasible grasp found 333 (originally 26): w/ 0.799[m] 82.957[deg] [grasp_sample.py: 596] +05/18 14:39:16 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:39:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:39:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:39:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:39:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:39:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:39:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:39:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:39:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:39:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.164m, effective arm-mount z=0.696m (base_body_z=-0.164m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163921m [env.py: 870] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:39:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.10396159 -1.36442951 -0.16392149] yaw=-11.5deg [env.py: 1019] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -179.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.86264549 -0.85018696 -0.16392149] yaw=-80.1deg [env.py: 1019] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28934745 -1.14337567 -0.16392149] yaw=-29.8deg [env.py: 1019] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:39:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=253.0ms, total=253.1ms [env.py: 1075] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.104, -1.364, -0.164) [env.py: 1079] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -11.5 deg [env.py: 1082] +05/18 14:39:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/18 14:39:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:39:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:39:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:39:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:39:19 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 14:39:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.130s [base_object_manipulation_planner_policy.py: 377] +05/18 14:39:19 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 14:39:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:39:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.159s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:39:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.310s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:39:24 INFO: [Worker 0] Feasible grasp found 123 (originally 123): w/ 0.562[m] 100.520[deg] [grasp_sample.py: 596] +05/18 14:39:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:39:25 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:39:25 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:39:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:40:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:40:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:40:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:41:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:28 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:41:28 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:41:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:41:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:41:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.195s, found 290 non-colliding grasps [grasp_sample.py: 520] +05/18 14:41:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.115s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:41:33 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:41:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:41:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:41:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:41:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:41:35 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 14:41:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:41:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189874m [env.py: 870] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:41:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 17.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 161.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -154.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.03915824 -1.12353971 -0.18987365] yaw=-32.0deg [env.py: 1019] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:41:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=246.7ms, total=246.8ms [env.py: 1075] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.039, -1.124, -0.190) [env.py: 1079] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.0 deg [env.py: 1082] +05/18 14:41:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/18 14:41:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:41:36 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 14:41:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:41:36 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 14:41:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:41:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:41:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.087s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:41:41 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:41:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:41:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:41:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:41:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:41:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:41:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:41:43 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 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.168601m [env.py: 870] +05/18 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:41:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.86423964 -0.75986324 -0.16860119] yaw=-75.3deg [env.py: 1019] +05/18 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -117.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.13832024 -1.19479412 -0.16860119] yaw=-61.9deg [env.py: 1019] +05/18 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:41:43 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=240.4ms, total=240.4ms [env.py: 1075] +05/18 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.864, -0.760, -0.169) [env.py: 1079] +05/18 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.3 deg [env.py: 1082] +05/18 14:41:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.975m [env.py: 1086] +05/18 14:41:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:43 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:41:43 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 14:41:43 INFO: [Worker 0] Warmed up parallel IK solver in 0.118s [base_object_manipulation_planner_policy.py: 377] +05/18 14:41:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:41:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:41:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.149s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:41:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.500s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:41:48 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.770[m] 98.054[deg] [grasp_sample.py: 596] +05/18 14:41:48 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:41:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:41:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:41:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:42:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:42:18 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:42:18 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:42:18 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 14:42:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:42:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.154s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:42:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.827s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:42:22 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.675[m] 81.876[deg] [grasp_sample.py: 596] +05/18 14:42:24 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:42:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:42:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:42:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:42:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:42:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:42:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:42:26 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 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130384m [env.py: 870] +05/18 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:42:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -165.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -155.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -35.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.00184634 -1.19688329 -0.13038376] yaw=-48.1deg [env.py: 1019] +05/18 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:42:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=236.7ms, total=236.8ms [env.py: 1075] +05/18 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.002, -1.197, -0.130) [env.py: 1079] +05/18 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.1 deg [env.py: 1082] +05/18 14:42:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.091m [env.py: 1086] +05/18 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:42:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:42:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:42:26 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 14:42:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 14:42:26 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 14:42:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:42:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:42:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.943s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:42:32 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:42:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:42:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:42:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:42:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:42:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:42:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:42:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:42:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:42:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:42:33 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 14:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194799m [env.py: 870] +05/18 14:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:42:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 66.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -157.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 46.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=234.6ms, total=234.7ms [env.py: 1105] +05/18 14:42:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:42:34 ERROR: [Worker 0] Worker 0 house 1 episode 40 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:42:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:42:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:42:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:42:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:42:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:42:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:42:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:42:35 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 14:42:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:42:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193716m [env.py: 870] +05/18 14:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:42:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.14602068 -1.34347589 -0.1937156 ] yaw=-45.9deg [env.py: 1019] +05/18 14:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0917906 -1.21739412 -0.1937156 ] yaw=-21.0deg [env.py: 1019] +05/18 14:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 61.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 37.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:42:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=240.7ms, total=240.8ms [env.py: 1075] +05/18 14:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.146, -1.343, -0.194) [env.py: 1079] +05/18 14:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.9 deg [env.py: 1082] +05/18 14:42:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.893m [env.py: 1086] +05/18 14:42:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:42:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:42:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:42:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:42:36 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/18 14:42:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.102s [base_object_manipulation_planner_policy.py: 377] +05/18 14:42:36 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 14:42:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:42:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.148s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:42:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.649s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:42:40 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.622[m] 115.931[deg] [grasp_sample.py: 596] +05/18 14:42:41 ERROR: [Worker 0] Worker 0 house 1 episode 41 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:42:43 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:42:43 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:42:43 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:42:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:42:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:42:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:42:43 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:42:43 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:42:43 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:42:43 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 14:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120007m [env.py: 870] +05/18 14:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:42:43 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -23.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -152.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -177.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -82.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.39765334 -1.08083068 -0.12000746] yaw=-59.7deg [env.py: 1019] +05/18 14:42:43 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:42:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=264.1ms, total=264.2ms [env.py: 1075] +05/18 14:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.398, -1.081, -0.120) [env.py: 1079] +05/18 14:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -59.7 deg [env.py: 1082] +05/18 14:42:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/18 14:42:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:42:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:42:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:42:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:42:44 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 14:42:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:42:44 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 14:42:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:42:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:42:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.190s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:42:49 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.604[m] 74.279[deg] [grasp_sample.py: 596] +05/18 14:42:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:42:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:42:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:42:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:43:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:44:10 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:44:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:44:44 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:44:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:44:44 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 14:44:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:44:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.241s, found 88 non-colliding grasps [grasp_sample.py: 520] +05/18 14:44:45 INFO: [Worker 0] Feasibility-checked 88 grasps in 0.905s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:44:45 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.035[m] 4.212[deg] [grasp_sample.py: 596] +05/18 14:44:45 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:44:45 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:44:45 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:44:50 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:45:00 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:45:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:45:35 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:45:57 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 14:45:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:45:57 INFO: [Worker 0] Preparing episode data: 298 timesteps [save_utils.py: 278] +05/18 14:46:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:46:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 14:46:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 14.45s (batch: 3.81s, save: 10.64s) [pipeline.py: 300] +05/18 14:46:12 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=4.03s: + episode_total: mean=55.50s, total=444.00s, count=8, min=247.1ms, max=208785.7ms + sensor_polling: mean=479.6ms, total=258.52s, count=539, min=437.7ms, max=588.5ms + physics_step: mean=31.8ms, total=17.15s, count=539, min=21.9ms, max=51.5ms + save_trajectories: mean=10.64s, total=10.64s, count=1, min=10642.1ms, max=10642.1ms + task_specific_sample: mean=531.1ms, total=4.25s, count=8, min=241.1ms, max=633.7ms + task_sampling: mean=576.1ms, total=4.03s, count=7, min=554.2ms, max=638.0ms + save_batch_prep: mean=3.81s, total=3.81s, count=1, min=3812.6ms, max=3812.6ms + task_sampling_failed: mean=247.1ms, total=247.1ms, count=1, min=247.1ms, max=247.1ms + scene_randomize: mean=1.8ms, total=14.2ms, count=8, min=1.5ms, max=2.3ms + mj_forward_sync: mean=594.8us, total=4.8ms, count=8, min=0.6ms, max=0.6ms + policy_setup: mean=19.0us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=8, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:46:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:46:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:46:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:46:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:46:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:46:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:46:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:46:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:46:14 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 14:46:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:46:14 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 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140975m [env.py: 870] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:46:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.76974257 -0.94109957 -0.14097464] yaw=-62.8deg [env.py: 1019] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.48527747 -0.79018519 -0.14097464] yaw=-54.4deg [env.py: 1019] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 43.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -66.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.10792975 -1.30690394 -0.14097464] yaw=-27.1deg [env.py: 1019] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:46:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=185.8ms, total=185.8ms [env.py: 1075] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.770, -0.941, -0.141) [env.py: 1079] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.8 deg [env.py: 1082] +05/18 14:46:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.810m [env.py: 1086] +05/18 14:46:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:46:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:46:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:46:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:46:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:46:14 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/18 14:46:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s [base_object_manipulation_planner_policy.py: 377] +05/18 14:46:14 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 14:46:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:46:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:46:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.220s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:46:17 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.736[m] 71.362[deg] [grasp_sample.py: 596] +05/18 14:46:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:46:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:46:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:46:18 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 14:47:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:47:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:47:46 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:48:46 INFO: [Worker 0] Worker 0 house 1 episode 43 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:49:06 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 14:49:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:49:06 INFO: [Worker 0] Preparing episode data: 281 timesteps [save_utils.py: 278] +05/18 14:49:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:49:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 14:49:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 12.89s (batch: 3.65s, save: 9.24s) [pipeline.py: 300] +05/18 14:49:20 INFO: [Worker 0] [PROFILE] Episode 43 house 1 success=True episode_total=0.51s: + episode_total: mean=185.99s, total=185.99s, count=1, min=185991.6ms, max=185991.6ms + sensor_polling: mean=480.4ms, total=134.50s, count=280, min=448.1ms, max=592.1ms + save_trajectories: mean=9.24s, total=9.24s, count=1, min=9242.5ms, max=9242.5ms + physics_step: mean=32.4ms, total=9.08s, count=280, min=22.3ms, max=46.0ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3652.3ms, max=3652.3ms + task_sampling: mean=507.5ms, total=507.5ms, count=1, min=507.5ms, max=507.5ms + task_specific_sample: mean=502.9ms, total=502.9ms, count=1, min=502.9ms, max=502.9ms + scene_randomize: mean=2.9ms, total=2.9ms, count=1, min=2.9ms, max=2.9ms + mj_forward_sync: mean=595.2us, total=0.6ms, count=1, min=0.6ms, max=0.6ms + policy_setup: mean=19.8us, 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 14:49:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:49:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:49:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:49:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:49:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:49:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:49:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:49:21 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 14:49:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:49:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.117m, effective arm-mount z=0.743m (base_body_z=-0.117m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116986m [env.py: 870] +05/18 14:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:49:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:49:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 170.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -40.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 164.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -88.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.72244175 -0.78844794 -0.11698632] yaw=-87.3deg [env.py: 1019] +05/18 14:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.44260163 -0.76692377 -0.11698632] yaw=-48.4deg [env.py: 1019] +05/18 14:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.22437868 -1.22686083 -0.11698632] yaw=-18.5deg [env.py: 1019] +05/18 14:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:49:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=226.9ms, total=227.0ms [env.py: 1075] +05/18 14:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.722, -0.788, -0.117) [env.py: 1079] +05/18 14:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -87.3 deg [env.py: 1082] +05/18 14:49:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.970m [env.py: 1086] +05/18 14:49:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:49:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:49:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:49:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:49:22 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/18 14:49:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.143s [base_object_manipulation_planner_policy.py: 377] +05/18 14:49:22 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 14:49:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:49:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.155s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:49:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.633s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:49:32 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.776[m] 86.969[deg] [grasp_sample.py: 596] +05/18 14:49:34 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:49:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:49:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:49:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:49:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:49:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:49:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:49:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:49:35 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 14:49:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:49:35 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 14:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160041m [env.py: 870] +05/18 14:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:49:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 179.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 53.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -152.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -81.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.41499198 -1.03474494 -0.16004067] yaw=-38.8deg [env.py: 1019] +05/18 14:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:49:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=252.8ms, total=252.9ms [env.py: 1075] +05/18 14:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.415, -1.035, -0.160) [env.py: 1079] +05/18 14:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.8 deg [env.py: 1082] +05/18 14:49:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/18 14:49:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:49:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:49:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:49:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:49:36 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 14:49:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.106s [base_object_manipulation_planner_policy.py: 377] +05/18 14:49:36 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 14:49:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:49:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:49:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.532s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:49:40 INFO: [Worker 0] Feasible grasp found 43 (originally 43): w/ 0.687[m] 94.011[deg] [grasp_sample.py: 596] +05/18 14:49:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:49:41 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:49:41 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:49:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:50:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:50:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:51:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:52:03 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:52:23 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 14:52:23 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:52:23 INFO: [Worker 0] Preparing episode data: 273 timesteps [save_utils.py: 278] +05/18 14:52:36 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:52:36 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 14:52:36 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 12.99s (batch: 3.66s, save: 9.34s) [pipeline.py: 300] +05/18 14:52:36 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=1.13s: + episode_total: mean=96.61s, total=193.22s, count=2, min=12161.2ms, max=181060.5ms + sensor_polling: mean=482.0ms, total=131.10s, count=272, min=450.2ms, max=600.3ms + save_trajectories: mean=9.34s, total=9.34s, count=1, min=9335.6ms, max=9335.6ms + physics_step: mean=32.0ms, total=8.71s, count=272, min=24.3ms, max=47.3ms + save_batch_prep: mean=3.66s, total=3.66s, count=1, min=3655.6ms, max=3655.6ms + task_sampling: mean=566.9ms, total=1.13s, count=2, min=556.2ms, max=577.6ms + task_specific_sample: mean=562.7ms, total=1.13s, count=2, min=551.5ms, max=573.9ms + scene_randomize: mean=2.3ms, total=4.5ms, count=2, min=1.5ms, max=3.0ms + mj_forward_sync: mean=607.6us, total=1.2ms, count=2, min=0.6ms, max=0.6ms + policy_setup: mean=18.1us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:52:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:52:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:52:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:52:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:52:38 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 14:52:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:52:38 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 14:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160766m [env.py: 870] +05/18 14:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:52:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -33.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -103.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -36.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=248.7ms, total=248.8ms [env.py: 1105] +05/18 14:52:38 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:52:38 ERROR: [Worker 0] Worker 0 house 1 episode 46 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:52:40 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:52:40 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:52:40 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:52:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:40 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:52:40 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:52:40 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:52:40 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.148357m [env.py: 870] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:52:40 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.04410241 -1.3342271 -0.14835712] yaw=-39.2deg [env.py: 1019] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 4.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 77.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.32427825 -1.18980001 -0.14835712] yaw=-20.2deg [env.py: 1019] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.02671859 -1.37849314 -0.14835712] yaw=-40.2deg [env.py: 1019] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:52:40 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=164.3ms, total=164.3ms [env.py: 1075] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.044, -1.334, -0.148) [env.py: 1079] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.2 deg [env.py: 1082] +05/18 14:52:40 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.989m [env.py: 1086] +05/18 14:52:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:40 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:41 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:52:41 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 14:52:41 INFO: [Worker 0] Warmed up parallel IK solver in 0.133s [base_object_manipulation_planner_policy.py: 377] +05/18 14:52:41 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:52:41 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:52:41 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:52:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.991s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:52:46 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:52:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:52:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:52:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:52:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:52:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:52:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:52:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123321m [env.py: 870] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:52:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -32.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.00906402 -1.3832727 -0.12332131] yaw=-46.8deg [env.py: 1019] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -64.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28109426 -1.25288682 -0.12332131] yaw=-46.7deg [env.py: 1019] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.3273542 -0.82662407 -0.12332131] yaw=-78.5deg [env.py: 1019] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:52:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=240.5ms, total=240.6ms [env.py: 1075] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.009, -1.383, -0.123) [env.py: 1079] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.8 deg [env.py: 1082] +05/18 14:52:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.003m [env.py: 1086] +05/18 14:52:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:52:48 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 14:52:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.111s [base_object_manipulation_planner_policy.py: 377] +05/18 14:52:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:52:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:52:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:52:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.096s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:52:54 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:52:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:52:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:52:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:52:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:52:55 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 14:52:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:52:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181915m [env.py: 870] +05/18 14:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:52:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.64216742 -0.74180043 -0.18191452] yaw=-85.9deg [env.py: 1019] +05/18 14:52:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.8778448 -0.81034834 -0.18191452] yaw=-106.6deg [env.py: 1019] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.88263911 -0.78058529 -0.18191452] yaw=-68.2deg [env.py: 1019] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:52:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=140.6ms, total=140.7ms [env.py: 1075] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.642, -0.742, -0.182) [env.py: 1079] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.9 deg [env.py: 1082] +05/18 14:52:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.036m [env.py: 1086] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:52:56 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/18 14:52:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.119s [base_object_manipulation_planner_policy.py: 377] +05/18 14:52:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:52:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:52:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:53:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.526s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:53:02 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 1.010[m] 80.296[deg] [grasp_sample.py: 596] +05/18 14:53:03 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:53:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:53:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:53:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:53:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:53:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:53:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:53:05 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190220m [env.py: 870] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:53:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -135.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.03281875 -1.35120229 -0.19021994] yaw=-11.4deg [env.py: 1019] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 27.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.6944064 -0.88477831 -0.19021994] yaw=-91.1deg [env.py: 1019] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:53:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=255.9ms, total=256.0ms [env.py: 1075] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.033, -1.351, -0.190) [env.py: 1079] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -11.4 deg [env.py: 1082] +05/18 14:53:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.993m [env.py: 1086] +05/18 14:53:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:53:06 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/18 14:53:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.115s [base_object_manipulation_planner_policy.py: 377] +05/18 14:53:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:53:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:53:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.131s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:53:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.985s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:53:11 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:53:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:53:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:53:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:53:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:53:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:53:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:53:13 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 14:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141786m [env.py: 870] +05/18 14:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:53:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 42.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19400479 -1.22188478 -0.14178648] yaw=-47.3deg [env.py: 1019] +05/18 14:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -104.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -99.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:53:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=253.9ms, total=254.0ms [env.py: 1075] +05/18 14:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.194, -1.222, -0.142) [env.py: 1079] +05/18 14:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.3 deg [env.py: 1082] +05/18 14:53:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.911m [env.py: 1086] +05/18 14:53:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:13 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:53:13 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/18 14:53:13 INFO: [Worker 0] Warmed up parallel IK solver in 0.113s [base_object_manipulation_planner_policy.py: 377] +05/18 14:53:13 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 14:53:13 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:53:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.152s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:53:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.240s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:53:19 INFO: [Worker 0] Feasible grasp found 354 (originally 47): w/ 0.724[m] 101.766[deg] [grasp_sample.py: 596] +05/18 14:53:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:53:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:53:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:53:20 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 14:53:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:53:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:53:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:53:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:53:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:53:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:53:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:01 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:54:01 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:54:01 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 14:54:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:54:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.132s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:54:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 42.581s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:54:43 INFO: [Worker 0] Feasible grasp found 447 (originally 140): w/ 0.547[m] 77.451[deg] [grasp_sample.py: 596] +05/18 14:54:45 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:54:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:54:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:54:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:54:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:54:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:54:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:54:47 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 14:54:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:54:47 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 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154762m [env.py: 870] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:54:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -137.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -171.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -109.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -175.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.60289495 -0.92075868 -0.15476207] yaw=-65.8deg [env.py: 1019] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.16589522 -1.40431301 -0.15476207] yaw=-36.7deg [env.py: 1019] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:54:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=244.5ms, total=244.6ms [env.py: 1075] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.603, -0.921, -0.155) [env.py: 1079] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.8 deg [env.py: 1082] +05/18 14:54:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.882m [env.py: 1086] +05/18 14:54:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:54:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:54:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:54:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:54:47 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 14:54:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.104s [base_object_manipulation_planner_policy.py: 377] +05/18 14:54:47 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 14:54:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:54:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.127s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:54:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.097s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:54:53 INFO: [Worker 0] Feasible grasp found 565 (originally 258): w/ 0.843[m] 64.796[deg] [grasp_sample.py: 596] +05/18 14:54:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:54:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:54:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:54:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:55:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:25 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:29 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:55:29 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:55:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:55:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:55:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:55:31 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.722s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:55:31 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.653[m] 49.789[deg] [grasp_sample.py: 596] +05/18 14:55:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:55:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:55:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:55:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:55:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:55:47 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 14:55:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:55:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.122s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:55:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.587s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:55:49 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.653[m] 49.791[deg] [grasp_sample.py: 596] +05/18 14:55:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:55:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:55:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:55:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:55:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:56:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:56:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:56:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:56:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:56:06 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:56:06 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:56:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:56:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:56:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:56:07 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.701s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:56:07 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.653[m] 49.791[deg] [grasp_sample.py: 596] +05/18 14:56:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:56:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:56:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:56:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:56:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:56:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:56:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:56:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:56:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:56:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:56:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:56:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:56:24 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:56:24 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:56:24 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=False episode_total=3.22s: + episode_total: mean=30.79s, total=215.54s, count=7, min=262.8ms, max=97530.3ms + sensor_polling: mean=461.5ms, total=60.92s, count=132, min=441.4ms, max=538.7ms + physics_step: mean=27.5ms, total=3.63s, count=132, min=18.5ms, max=32.8ms + task_specific_sample: mean=493.5ms, total=3.45s, count=7, min=256.4ms, max=571.7ms + task_sampling: mean=536.2ms, total=3.22s, count=6, min=448.3ms, max=574.9ms + task_sampling_failed: mean=262.8ms, total=262.8ms, count=1, min=262.8ms, max=262.8ms + scene_randomize: mean=1.8ms, total=12.5ms, count=7, min=1.5ms, max=3.1ms + mj_forward_sync: mean=633.7us, total=4.4ms, count=7, min=0.6ms, max=0.7ms + policy_setup: mean=16.5us, total=0.1ms, count=6, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=7, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:56:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:56:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:56:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:56:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:56:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:56:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:56:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:56:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:56:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167782m [env.py: 870] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:56:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.19944168 -1.40096469 -0.16778196] yaw=-48.6deg [env.py: 1019] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 168.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 179.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.23904276 -1.34870374 -0.16778196] yaw=-28.5deg [env.py: 1019] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:56:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=239.7ms, total=239.8ms [env.py: 1075] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.199, -1.401, -0.168) [env.py: 1079] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.6 deg [env.py: 1082] +05/18 14:56:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.820m [env.py: 1086] +05/18 14:56:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:56:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:56:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:56:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:56:27 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/18 14:56:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.114s [base_object_manipulation_planner_policy.py: 377] +05/18 14:56:27 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 14:56:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:56:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:56:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.660s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:56:29 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.742[m] 74.767[deg] [grasp_sample.py: 596] +05/18 14:56:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:56:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:56:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:56:30 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 14:57:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:57:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:57:56 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:58:51 INFO: [Worker 0] Worker 0 house 1 episode 53 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:59:12 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 14:59:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:59:12 INFO: [Worker 0] Preparing episode data: 286 timesteps [save_utils.py: 278] +05/18 14:59:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:59:25 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 14:59:25 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 13.10s (batch: 3.65s, save: 9.45s) [pipeline.py: 300] +05/18 14:59:26 INFO: [Worker 0] [PROFILE] Episode 53 house 1 success=True episode_total=0.56s: + episode_total: mean=179.61s, total=179.61s, count=1, min=179606.0ms, max=179606.0ms + sensor_polling: mean=457.9ms, total=130.51s, count=285, min=439.1ms, max=553.7ms + save_trajectories: mean=9.45s, total=9.45s, count=1, min=9450.4ms, max=9450.4ms + physics_step: mean=29.6ms, total=8.44s, count=285, min=21.7ms, max=34.6ms + save_batch_prep: mean=3.65s, total=3.65s, count=1, min=3650.0ms, max=3650.0ms + task_sampling: mean=555.4ms, total=555.4ms, count=1, min=555.4ms, max=555.4ms + task_specific_sample: mean=551.8ms, total=551.8ms, count=1, min=551.8ms, max=551.8ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=524.7us, total=0.5ms, count=1, min=0.5ms, max=0.5ms + policy_setup: mean=15.5us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:59:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:59:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:59:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:59:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:59:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:59:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:59:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:59:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:59:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:59:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.177m, effective arm-mount z=0.683m (base_body_z=-0.177m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177469m [env.py: 870] +05/18 14:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:59:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:59:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.17534585 -1.11305587 -0.17746935] yaw=-48.3deg [env.py: 1019] +05/18 14:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -98.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 29.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 91.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 31.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:59:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.1ms, retries=238.2ms, total=238.3ms [env.py: 1075] +05/18 14:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.175, -1.113, -0.177) [env.py: 1079] +05/18 14:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -48.3 deg [env.py: 1082] +05/18 14:59:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.991m [env.py: 1086] +05/18 14:59:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:59:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:59:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:59:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:59:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:59:28 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/18 14:59:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.135s [base_object_manipulation_planner_policy.py: 377] +05/18 14:59:28 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:59:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:59:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:59:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.293s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:59:34 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.762[m] 85.463[deg] [grasp_sample.py: 596] +05/18 14:59:35 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:59:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:59:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:59:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:59:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:59:37 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 14:59:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:59:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.170591m [env.py: 870] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:59:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 64.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.08424299 -1.0694051 -0.17059138] yaw=-10.2deg [env.py: 1019] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -105.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -161.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.3007546 -0.96371465 -0.17059138] yaw=-64.7deg [env.py: 1019] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:59:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=232.4ms, total=232.5ms [env.py: 1075] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.084, -1.069, -0.171) [env.py: 1079] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.2 deg [env.py: 1082] +05/18 14:59:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/18 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:59:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:59:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:59:37 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/18 14:59:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.105s [base_object_manipulation_planner_policy.py: 377] +05/18 14:59:38 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 14:59:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:59:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.121s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:59:43 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.913s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:59:43 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:59:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:59:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:59:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:59:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:59:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:59:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:59:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:59:44 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:59:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:59:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182199m [env.py: 870] +05/18 14:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:59:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -167.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -87.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 22.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 79.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -126.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=222.3ms, total=222.3ms [env.py: 1105] +05/18 14:59:45 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:59:45 ERROR: [Worker 0] Worker 0 house 1 episode 56 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:59:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:59:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:59:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:59:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:59:46 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 14:59:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:59:46 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 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142165m [env.py: 870] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:59:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26161298 -1.27616181 -0.14216542] yaw=-27.5deg [env.py: 1019] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.53059629 -0.81587892 -0.14216542] yaw=-45.4deg [env.py: 1019] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 90.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.17577386 -0.96565301 -0.14216542] yaw=-68.9deg [env.py: 1019] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:59:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=158.3ms, total=158.3ms [env.py: 1075] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.262, -1.276, -0.142) [env.py: 1079] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.5 deg [env.py: 1082] +05/18 14:59:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.825m [env.py: 1086] +05/18 14:59:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:59:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:59:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:59:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:59:47 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/18 14:59:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.117s [base_object_manipulation_planner_policy.py: 377] +05/18 14:59:47 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 14:59:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:59:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.145s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:59:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.847s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:59:49 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.607[m] 60.577[deg] [grasp_sample.py: 596] +05/18 14:59:51 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:59:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:59:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:59:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:59:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:59:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:59:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:59:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:59:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:59:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:59:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:59:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.110m, effective arm-mount z=0.750m (base_body_z=-0.110m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110128m [env.py: 870] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:59:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 65.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -141.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 54.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 72.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.02634396 -1.2333545 -0.11012789] yaw=-8.6deg [env.py: 1019] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.53834591 -0.96349797 -0.11012789] yaw=-65.4deg [env.py: 1019] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.72766905 -0.94306116 -0.11012789] yaw=-86.4deg [env.py: 1019] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:59:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=209.9ms, total=209.9ms [env.py: 1075] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.026, -1.233, -0.110) [env.py: 1079] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -8.6 deg [env.py: 1082] +05/18 14:59:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/18 14:59:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:59:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:59:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:59:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:59:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:59:53 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/18 14:59:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 14:59:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:59:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:59:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.117s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:59:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.027s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:59:58 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:00:00 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:00:00 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:00:00 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:00:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:00:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:00:00 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:00:00 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 15:00:00 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:00:00 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129984m [env.py: 870] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:00:00 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -169.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.27782181 -1.19267759 -0.12998393] yaw=-44.1deg [env.py: 1019] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -33.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 75.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.58260874 -0.9120758 -0.12998393] yaw=-39.1deg [env.py: 1019] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:00:00 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=236.1ms, total=236.1ms [env.py: 1075] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.278, -1.193, -0.130) [env.py: 1079] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.1 deg [env.py: 1082] +05/18 15:00:00 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.861m [env.py: 1086] +05/18 15:00:00 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:00:00 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:00:00 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:00:00 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:00:00 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/18 15:00:00 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 15:00:00 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 15:00:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:00:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:00:05 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.896s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:00:05 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.681[m] 103.982[deg] [grasp_sample.py: 596] +05/18 15:00:05 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:00:06 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:00:06 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:00:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:01:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:01:21 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:01:26 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:02:21 INFO: [Worker 0] Worker 0 house 1 episode 59 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 15:02:41 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 15:02:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:02:41 INFO: [Worker 0] Preparing episode data: 270 timesteps [save_utils.py: 278] +05/18 15:02:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:02:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 15:02:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 12.48s (batch: 3.54s, save: 8.95s) [pipeline.py: 300] +05/18 15:02:54 INFO: [Worker 0] [PROFILE] Episode 59 house 1 success=True episode_total=2.59s: + episode_total: mean=32.93s, total=197.56s, count=6, min=233.0ms, max=173827.9ms + sensor_polling: mean=454.1ms, total=122.16s, count=269, min=438.0ms, max=562.9ms + save_trajectories: mean=8.95s, total=8.95s, count=1, min=8945.9ms, max=8945.9ms + physics_step: mean=29.8ms, total=8.01s, count=269, min=23.4ms, max=40.9ms + save_batch_prep: mean=3.54s, total=3.54s, count=1, min=3538.7ms, max=3538.7ms + task_specific_sample: mean=466.1ms, total=2.80s, count=6, min=228.2ms, max=556.0ms + task_sampling: mean=517.2ms, total=2.59s, count=5, min=459.8ms, max=560.3ms + task_sampling_failed: mean=233.0ms, total=233.0ms, count=1, min=233.0ms, max=233.0ms + scene_randomize: mean=1.9ms, total=11.3ms, count=6, min=1.4ms, max=2.8ms + mj_forward_sync: mean=561.7us, total=3.4ms, count=6, min=0.5ms, max=0.6ms + policy_setup: mean=16.3us, 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 15:02:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:02:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:02:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:02:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:02:55 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 15:02:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:02:55 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143652m [env.py: 870] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:02:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.77000581 -0.65067937 -0.14365199] yaw=-106.2deg [env.py: 1019] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.6696515 -0.79608462 -0.14365199] yaw=-80.7deg [env.py: 1019] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.68411717 -0.67963333 -0.14365199] yaw=-75.1deg [env.py: 1019] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:02:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=178.7ms, total=178.7ms [env.py: 1075] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.770, -0.651, -0.144) [env.py: 1079] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -106.2 deg [env.py: 1082] +05/18 15:02:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.095m [env.py: 1086] +05/18 15:02:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:02:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:02:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:02:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:02:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:02:56 INFO: [Worker 0] Worker 0 house 1 episode 60/72 collected=0/12 [pipeline.py: 1044] +05/18 15:02:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.141s [base_object_manipulation_planner_policy.py: 377] +05/18 15:02:56 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 15:02:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:02:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:03:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.912s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:03:01 ERROR: [Worker 0] Worker 0 house 1 episode 60 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:03:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:03:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:03:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:03:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:03:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:03:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:03:03 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 15:03:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:03:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.100m, effective arm-mount z=0.760m (base_body_z=-0.100m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100076m [env.py: 870] +05/18 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:03:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 174.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19972189 -1.06910394 -0.10007613] yaw=-66.6deg [env.py: 1019] +05/18 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 8.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -28.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:03:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=227.3ms, total=227.3ms [env.py: 1075] +05/18 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.200, -1.069, -0.100) [env.py: 1079] +05/18 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.6 deg [env.py: 1082] +05/18 15:03:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.001m [env.py: 1086] +05/18 15:03:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:03:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:03:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:03:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:03:03 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/18 15:03:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.123s [base_object_manipulation_planner_policy.py: 377] +05/18 15:03:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:03:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:03:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.119s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:03:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.837s, found feasible grasp: False [grasp_sample.py: 557] +05/18 15:03:08 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 15:03:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:03:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:03:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:03:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:03:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:03:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:03:10 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 15:03:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:03:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.144494m [env.py: 870] +05/18 15:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:03:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.57341741 -0.80749524 -0.14449352] yaw=-67.5deg [env.py: 1019] +05/18 15:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 87.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 80.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:03:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=232.1ms, total=232.1ms [env.py: 1075] +05/18 15:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.573, -0.807, -0.144) [env.py: 1079] +05/18 15:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -67.5 deg [env.py: 1082] +05/18 15:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/18 15:03:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:03:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:03:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:03:11 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/18 15:03:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.103s [base_object_manipulation_planner_policy.py: 377] +05/18 15:03:11 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 15:03:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:03:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.152s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:03:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.734s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:03:20 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.751[m] 129.077[deg] [grasp_sample.py: 596] +05/18 15:03:21 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:03:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:03:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:03:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:03:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:03:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:03:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:03:23 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 15:03:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:03:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.113m, effective arm-mount z=0.747m (base_body_z=-0.113m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.112644m [env.py: 870] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:03:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 38.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -137.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 36.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.72345231 -0.78378534 -0.11264355] yaw=-98.9deg [env.py: 1019] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12834787 -1.23271805 -0.11264355] yaw=-8.8deg [env.py: 1019] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:03:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=226.7ms, total=226.8ms [env.py: 1075] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.723, -0.784, -0.113) [env.py: 1079] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.9 deg [env.py: 1082] +05/18 15:03:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/18 15:03:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:03:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:03:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:03:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:03:23 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/18 15:03:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 15:03:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:03:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:03:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.118s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:03:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.315s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:03:34 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.717[m] 99.405[deg] [grasp_sample.py: 596] +05/18 15:03:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:03:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:03:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:03:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:04:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:04:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:04:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:04:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:04:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:04:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:04:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.724s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:04:49 INFO: [Worker 0] Feasible grasp found 211 (originally 211): w/ 0.141[m] 3.221[deg] [grasp_sample.py: 596] +05/18 15:04:51 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:04:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:04:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:04:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:04:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:04:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:04:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:04:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:04:52 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 15:04:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:04:52 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 15:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178027m [env.py: 870] +05/18 15:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:04:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:04:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -60.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=214.6ms, total=214.6ms [env.py: 1105] +05/18 15:04:53 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 15:04:53 ERROR: [Worker 0] Worker 0 house 1 episode 64 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 15:04:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:04:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:04:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:04:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:04:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:04:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:04:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:04:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:04:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:04:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.172m, effective arm-mount z=0.688m (base_body_z=-0.172m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171963m [env.py: 870] +05/18 15:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:04:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.18906451 -1.43027784 -0.17196252] yaw=-6.7deg [env.py: 1019] +05/18 15:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:04:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 30.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.2859048 -1.19478681 -0.17196252] yaw=-18.1deg [env.py: 1019] +05/18 15:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -45.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.205882 -0.9664347 -0.17196252] yaw=-44.7deg [env.py: 1019] +05/18 15:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:04:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=154.1ms, total=154.2ms [env.py: 1075] +05/18 15:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.189, -1.430, -0.172) [env.py: 1079] +05/18 15:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -6.7 deg [env.py: 1082] +05/18 15:04:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/18 15:04:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:04:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:04:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:04:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:04:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:04:55 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/18 15:04:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.121s [base_object_manipulation_planner_policy.py: 377] +05/18 15:04:55 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:04:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:04:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.146s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:04:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.058s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:04:58 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.584[m] 91.369[deg] [grasp_sample.py: 596] +05/18 15:04:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:04:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:04:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:04:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:05:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:06:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:06:07 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:06:59 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 15:07:16 INFO: [Worker 0] Saved videos eagerly for episode 18 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 15:07:16 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:07:16 INFO: [Worker 0] Preparing episode data: 252 timesteps [save_utils.py: 278] +05/18 15:07:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:07:27 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 15:07:27 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 11.24s (batch: 3.28s, save: 7.96s) [pipeline.py: 300] +05/18 15:07:28 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=2.54s: + episode_total: mean=44.01s, total=264.06s, count=6, min=225.8ms, max=153568.4ms + sensor_polling: mean=447.0ms, total=172.99s, count=387, min=420.3ms, max=557.1ms + physics_step: mean=28.2ms, total=10.92s, count=387, min=20.6ms, max=37.4ms + save_trajectories: mean=7.96s, total=7.96s, count=1, min=7956.8ms, max=7956.8ms + save_batch_prep: mean=3.28s, total=3.28s, count=1, min=3284.1ms, max=3284.1ms + task_specific_sample: mean=456.8ms, total=2.74s, count=6, min=220.6ms, max=529.8ms + task_sampling: mean=507.6ms, total=2.54s, count=5, min=464.8ms, max=532.8ms + task_sampling_failed: mean=225.8ms, total=225.8ms, count=1, min=225.8ms, max=225.8ms + scene_randomize: mean=1.8ms, total=10.5ms, count=6, min=1.5ms, max=2.9ms + mj_forward_sync: mean=543.9us, total=3.3ms, count=6, min=0.5ms, max=0.6ms + policy_setup: mean=17.2us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=6, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 15:07:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:07:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:07:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:07:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:07:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:07:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:07:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:07:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:07:30 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 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.172581m [env.py: 870] +05/18 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:07:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -14.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -123.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -71.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -150.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.15183957 -1.42980407 -0.17258057] yaw=-4.4deg [env.py: 1019] +05/18 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:07:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=224.1ms, total=224.2ms [env.py: 1075] +05/18 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.152, -1.430, -0.173) [env.py: 1079] +05/18 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -4.4 deg [env.py: 1082] +05/18 15:07:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/18 15:07:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:07:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:07:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:07:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:07:30 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/18 15:07:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.144s [base_object_manipulation_planner_policy.py: 377] +05/18 15:07:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:07:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:07:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.111s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:07:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.903s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:07:35 INFO: [Worker 0] Feasible grasp found 180 (originally 180): w/ 0.671[m] 89.817[deg] [grasp_sample.py: 596] +05/18 15:07:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:07:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:07:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:07:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:08:37 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:08:46 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:08:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:09:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:09:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:09:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:09:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:09:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:09:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:09:40 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 15:09:40 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:09:40 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 15:09:40 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:09:40 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:09:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.898s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:09:45 INFO: [Worker 0] Feasible grasp found 28 (originally 28): w/ 0.189[m] 22.546[deg] [grasp_sample.py: 596] +05/18 15:09:46 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:09:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:09:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:09:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:09:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:09:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:09:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:09:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:09:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:09:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156033m [env.py: 870] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:09:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 41.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -51.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -84.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.40062881 -1.08622275 -0.15603335] yaw=-57.6deg [env.py: 1019] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:09:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=207.6ms, total=207.6ms [env.py: 1075] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.401, -1.086, -0.156) [env.py: 1079] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/18 15:09:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.847m [env.py: 1086] +05/18 15:09:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:09:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:09:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:09:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:09:49 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/18 15:09:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.095s [base_object_manipulation_planner_policy.py: 377] +05/18 15:09:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:09:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:09:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.139s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:09:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.299s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:09:54 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.552[m] 105.632[deg] [grasp_sample.py: 596] +05/18 15:09:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:09:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:09:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:09:55 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 15:10:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:10:53 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 15:10:57 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 15:11:49 INFO: [Worker 0] Worker 0 house 1 episode 67 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 15:12:06 INFO: [Worker 0] Saved videos eagerly for episode 19 to /scr/ravenh/dresser/sim_chunks/chunk_063 [pipeline.py: 1174] +05/18 15:12:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_063 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 15:12:06 INFO: [Worker 0] Preparing episode data: 247 timesteps [save_utils.py: 278] +05/18 15:12:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 15:12:18 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_063 [save_utils.py: 785] +05/18 15:12:18 INFO: [Worker 0] Successfully saved trajectory data for chunk_063 in 11.21s (batch: 3.30s, save: 7.91s) [pipeline.py: 300] +05/18 15:12:18 INFO: [Worker 0] [PROFILE] Episode 67 house 1 success=True episode_total=1.11s: + episode_total: mean=143.44s, total=286.88s, count=2, min=136722.4ms, max=150161.5ms + sensor_polling: mean=429.9ms, total=211.51s, count=492, min=408.2ms, max=553.0ms + physics_step: mean=28.0ms, total=13.78s, count=492, min=20.6ms, max=32.3ms + save_trajectories: mean=7.91s, total=7.91s, count=1, min=7908.1ms, max=7908.1ms + save_batch_prep: mean=3.30s, total=3.30s, count=1, min=3299.7ms, max=3299.7ms + task_sampling: mean=556.3ms, total=1.11s, count=2, min=534.6ms, max=577.9ms + task_specific_sample: mean=552.7ms, total=1.11s, count=2, min=531.0ms, max=574.5ms + scene_randomize: mean=1.9ms, total=3.9ms, count=2, min=1.6ms, max=2.3ms + mj_forward_sync: mean=525.4us, total=1.1ms, count=2, min=0.5ms, max=0.5ms + policy_setup: mean=14.9us, 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 15:12:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:12:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:12:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:12:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:12:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:12:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:12:20 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 15:12:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:12:20 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 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195258m [env.py: 870] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:12:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.7595481 -0.94950877 -0.19525785] yaw=-104.6deg [env.py: 1019] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -151.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.35114409 -0.90809992 -0.19525785] yaw=-26.4deg [env.py: 1019] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 67.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.2631739 -1.17619751 -0.19525785] yaw=-65.3deg [env.py: 1019] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:12:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=144.0ms, total=144.1ms [env.py: 1075] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.760, -0.950, -0.195) [env.py: 1079] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -104.6 deg [env.py: 1082] +05/18 15:12:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.804m [env.py: 1086] +05/18 15:12:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:12:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:12:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:12:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:12:20 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/18 15:12:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.140s [base_object_manipulation_planner_policy.py: 377] +05/18 15:12:20 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:12:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:12:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:12:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.607s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:12:22 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.917[m] 73.530[deg] [grasp_sample.py: 596] +05/18 15:12:22 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 15:12:23 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 15:12:23 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 15:12:23 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 15:12:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 15:12:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 15:12:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 15:12:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 15:13:26 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 15:13:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:13:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:13:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.109s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:13:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.601s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:13:44 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.395[m] 36.735[deg] [grasp_sample.py: 596] +05/18 15:13:45 ERROR: [Worker 0] Worker 0 house 1 episode 68 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:13:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:13:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:13:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:13:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:13:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:13:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:13:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:13:47 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:13:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:13:47 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 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186267m [env.py: 870] +05/18 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:13:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 68.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 64.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:13:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 165.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:13:47 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=197.2ms, total=197.2ms [env.py: 1105] +05/18 15:13:47 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 15:13:47 ERROR: [Worker 0] Worker 0 house 1 episode 69 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 15:13:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:13:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:13:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:13:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:13:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:13:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:13:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:13:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:13:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:13:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:13:49 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 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.184568m [env.py: 870] +05/18 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:13:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.89518054 -0.90180568 -0.18456829] yaw=-105.6deg [env.py: 1019] +05/18 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.82709108 -0.67525913 -0.18456829] yaw=-63.0deg [env.py: 1019] +05/18 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -18.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 15:13:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=210.4ms, total=210.4ms [env.py: 1075] +05/18 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.895, -0.902, -0.185) [env.py: 1079] +05/18 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -105.6 deg [env.py: 1082] +05/18 15:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.831m [env.py: 1086] +05/18 15:13:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:13:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:13:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:13:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:13:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 15:13:49 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/18 15:13:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.108s [base_object_manipulation_planner_policy.py: 377] +05/18 15:13:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 15:13:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 15:13:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.110s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 15:13:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.426s, found feasible grasp: True [grasp_sample.py: 557] +05/18 15:13:51 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.685[m] 89.949[deg] [grasp_sample.py: 596] +05/18 15:13:53 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 15:13:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 15:13:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 15:13:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 15:13:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 15:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 15:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 15:13:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 15:13:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 15:13:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 15:13:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 15:13:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 15:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 15:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 15:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142222m [env.py: 870] +05/18 15:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 15:13:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 15:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 15:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -133.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -57.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 35.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 15:13:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=200.5ms, total=200.5ms [env.py: 1105] +05/18 15:13:54 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 15:13:54 ERROR: [Worker 0] Worker 0 house 1 episode 71 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 15:13:56 WARNING: [Worker 0] No trajectory data to save for chunk_063 [pipeline.py: 234] +05/18 15:13:56 WARNING: [Worker 0] No trajectory data to save for chunk_063 [pipeline.py: 234] +05/18 15:13:56 INFO: [Worker 0] Worker 0 completed house 1: 20/24 successful episodes [pipeline.py: 1323] +05/18 15:13:56 INFO: [Worker 0] [PROFILE] House 1 complete: 20/24 successful, 24 episodes, total_time=9208.72s + House averages: + episode_total: mean=74.51s, total=5364.52s, count=72, min=208.8ms, max=212711.9ms + sensor_polling: mean=473.5ms, total=3271.57s, count=6910, min=408.2ms, max=608.4ms + physics_step: mean=31.1ms, total=214.57s, count=6910, min=18.5ms, max=60.0ms + save_trajectories: mean=9.56s, total=191.20s, count=20, min=7908.1ms, max=10862.8ms + save_batch_prep: mean=3.71s, total=74.24s, count=20, min=3284.1ms, max=3982.3ms + task_sampling: mean=638.5ms, total=40.87s, count=64, min=446.7ms, max=6190.9ms + task_specific_sample: mean=512.7ms, total=36.92s, count=72, min=203.0ms, max=634.7ms + scene_load: mean=5.55s, total=5.55s, count=1, min=5552.6ms, max=5552.6ms + scene_env_create: mean=3.81s, total=3.81s, count=1, min=3806.7ms, max=3806.7ms + task_sampling_failed: mean=235.8ms, total=1.89s, count=8, min=208.8ms, max=262.8ms + scene_compile: mean=1.47s, total=1.47s, count=1, min=1472.7ms, max=1472.7ms + compile_mujoco: mean=1.04s, total=1.04s, count=1, min=1038.8ms, max=1038.8ms + compile_xml_load: mean=334.3ms, total=334.3ms, count=1, min=334.3ms, max=334.3ms + scene_init: mean=155.8ms, total=155.8ms, count=1, min=155.8ms, max=155.8ms + scene_randomize: mean=2.0ms, total=140.9ms, count=72, min=1.4ms, max=3.3ms + scene_asset_install: mean=117.1ms, total=117.1ms, count=1, min=117.1ms, max=117.1ms + compile_aux_objects: mean=78.0ms, total=78.0ms, count=1, min=78.0ms, max=78.0ms + compile_aux_policy_objects: mean=77.9ms, total=77.9ms, count=1, min=77.9ms, max=77.9ms + asset_install_scene: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + asset_install_grasps: mean=48.5ms, total=48.5ms, count=1, min=48.5ms, max=48.5ms + mj_forward_sync: mean=593.2us, total=42.7ms, count=72, min=0.5ms, max=0.8ms + asset_install_objects: mean=14.1ms, total=14.1ms, count=1, min=14.1ms, max=14.1ms + compile_robot_add: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + policy_setup: mean=19.2us, total=1.2ms, count=64, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/18 15:13:56 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/18 15:13:56 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 24 episodes, total_time=9208.72s + Worker averages: + episode_total: mean=74.51s, total=5364.52s, count=72, min=208.8ms, max=212711.9ms + sensor_polling: mean=473.5ms, total=3271.57s, count=6910, min=408.2ms, max=608.4ms + physics_step: mean=31.1ms, total=214.57s, count=6910, min=18.5ms, max=60.0ms + save_trajectories: mean=9.56s, total=191.20s, count=20, min=7908.1ms, max=10862.8ms + save_batch_prep: mean=3.71s, total=74.24s, count=20, min=3284.1ms, max=3982.3ms + task_sampling: mean=638.5ms, total=40.87s, count=64, min=446.7ms, max=6190.9ms + task_specific_sample: mean=512.7ms, total=36.92s, count=72, min=203.0ms, max=634.7ms + scene_load: mean=5.55s, total=5.55s, count=1, min=5552.6ms, max=5552.6ms + scene_env_create: mean=3.81s, total=3.81s, count=1, min=3806.7ms, max=3806.7ms + task_sampling_failed: mean=235.8ms, total=1.89s, count=8, min=208.8ms, max=262.8ms + scene_compile: mean=1.47s, total=1.47s, count=1, min=1472.7ms, max=1472.7ms + compile_mujoco: mean=1.04s, total=1.04s, count=1, min=1038.8ms, max=1038.8ms + compile_xml_load: mean=334.3ms, total=334.3ms, count=1, min=334.3ms, max=334.3ms + scene_init: mean=155.8ms, total=155.8ms, count=1, min=155.8ms, max=155.8ms + scene_randomize: mean=2.0ms, total=140.9ms, count=72, min=1.4ms, max=3.3ms + scene_asset_install: mean=117.1ms, total=117.1ms, count=1, min=117.1ms, max=117.1ms + compile_aux_objects: mean=78.0ms, total=78.0ms, count=1, min=78.0ms, max=78.0ms + compile_aux_policy_objects: mean=77.9ms, total=77.9ms, count=1, min=77.9ms, max=77.9ms + asset_install_scene: mean=54.5ms, total=54.5ms, count=1, min=54.5ms, max=54.5ms + asset_install_grasps: mean=48.5ms, total=48.5ms, count=1, min=48.5ms, max=48.5ms + mj_forward_sync: mean=593.2us, total=42.7ms, count=72, min=0.5ms, max=0.8ms + asset_install_objects: mean=14.1ms, total=14.1ms, count=1, min=14.1ms, max=14.1ms + compile_robot_add: mean=10.4ms, total=10.4ms, count=1, min=10.4ms, max=10.4ms + policy_setup: mean=19.2us, total=1.2ms, count=64, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/18 15:13:59 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/18 15:13:59 INFO: Success count: 20, Total count: 24 [pipeline.py: 1491] +05/18 15:13:59 INFO: Success rate: 83.33% [pipeline.py: 1492] diff --git a/dresser/sim/chunk_063/trajectories_batch_1_of_1_cam_rand.h5 b/dresser/sim/chunk_063/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6696f9a4f39e360bad91463517fabfb19fae0f0a --- /dev/null +++ b/dresser/sim/chunk_063/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78c9802a39ba885f82f8b56bcab7216625a9480ba35bf7c7fe3835b43fde3f75 +size 1388374634