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[793.0831592413665, + 241.62769618042807, + 300.12442783719814, + 440.9812092338339, + 500.000000000004, + 311.89516163317654, + 500.000000000004], + 'K_stiffness': [5132.972657172051, + 1060.4599870990814, + 1814.2516466742627, + 2282.7973699783515, + 2963.6502662461776, + 1843.22950428842, + 2505.657053829795], + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': True, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'command_mode': {'arm': 'joint_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4, + 0.4]}, + 'name': 'franka_droid', + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'save_depth_mp4': False, + 'scene_dataset': 'ithor_minimal_dresser', + 'seed': 20030, + '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 14:12:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/18 14:12:04 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 14:12:04 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 14:12:04 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 14:12:06 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/FloorPlan1_physics.xml [task_sampler.py: 797] +05/18 14:12:06 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 14:12:06 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 14:12:06 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 14:12:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:12:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:12:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:12:06 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 14:12:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:12:06 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 14:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.125319m [env.py: 870] +05/18 14:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:12:06 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 14:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -151.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 177.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -107.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -53.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.1102084 -1.1815452 -0.12531893] yaw=-12.0deg [env.py: 1019] +05/18 14:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:12:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=15.0ms, retries=178.3ms, total=193.3ms [env.py: 1075] +05/18 14:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.110, -1.182, -0.125) [env.py: 1079] +05/18 14:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -12.0 deg [env.py: 1082] +05/18 14:12:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/18 14:12:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:12:07 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 14:12:33 INFO: [Worker 0] Warmed up parallel IK solver in 25.929s [base_object_manipulation_planner_policy.py: 377] +05/18 14:12:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:12:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:12:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:12:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.068s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:12:35 ERROR: [Worker 0] Worker 0 house 1 episode 0 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:12:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:12:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:12:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:12:36 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 14:12:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:12:36 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 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154565m [env.py: 870] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:12:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -66.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -173.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -70.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.53295702 -0.86040956 -0.15456545] yaw=-89.9deg [env.py: 1019] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -22.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.19442291 -1.06419159 -0.15456545] yaw=-55.1deg [env.py: 1019] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:12:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.3ms, total=181.3ms [env.py: 1075] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.533, -0.860, -0.155) [env.py: 1079] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -89.9 deg [env.py: 1082] +05/18 14:12:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.965m [env.py: 1086] +05/18 14:12:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:12:36 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 14:12:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 14:12:36 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 14:12:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:12:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.088s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:12:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 14.438s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:12:51 INFO: [Worker 0] Feasible grasp found 506 (originally 199): w/ 0.871[m] 99.080[deg] [grasp_sample.py: 596] +05/18 14:12:52 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:12:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:12:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:12:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:12:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:12:53 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 14:12:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:12:53 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 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126533m [env.py: 870] +05/18 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:12:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.84823453 -0.93426924 -0.12653289] yaw=-91.3deg [env.py: 1019] +05/18 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -3.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.00798635 -1.30795637 -0.12653289] yaw=-50.5deg [env.py: 1019] +05/18 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -70.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:12:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.5ms, total=178.5ms [env.py: 1075] +05/18 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.848, -0.934, -0.127) [env.py: 1079] +05/18 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -91.3 deg [env.py: 1082] +05/18 14:12:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.803m [env.py: 1086] +05/18 14:12:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:12:54 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 14:12:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 14:12:54 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 14:12:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:12:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:12:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.589s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:12:54 INFO: [Worker 0] Feasible grasp found 454 (originally 147): w/ 0.529[m] 107.319[deg] [grasp_sample.py: 596] +05/18 14:12:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:12:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:12:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:12:55 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 14:13:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:13:14 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:13:14 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:13:14 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 14:13:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.088s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.683s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:13:24 INFO: [Worker 0] Feasible grasp found 516 (originally 209): w/ 0.434[m] 81.763[deg] [grasp_sample.py: 596] +05/18 14:13:25 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:13:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:26 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 14:13:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:26 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 14:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146693m [env.py: 870] +05/18 14:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -90.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 26.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -146.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22022634 -1.16132272 -0.14669331] yaw=-31.7deg [env.py: 1019] +05/18 14:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:13:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.7ms, total=178.8ms [env.py: 1075] +05/18 14:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.220, -1.161, -0.147) [env.py: 1079] +05/18 14:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.7 deg [env.py: 1082] +05/18 14:13:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m [env.py: 1086] +05/18 14:13:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:13:26 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 14:13:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 14:13:26 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 14:13:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.943s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:13:28 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.630[m] 80.068[deg] [grasp_sample.py: 596] +05/18 14:13:29 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:13:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:31 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 14:13:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.140m, effective arm-mount z=0.720m (base_body_z=-0.140m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.140352m [env.py: 870] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -168.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 170.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 85.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.2928565 -0.92498012 -0.14035237] yaw=-27.7deg [env.py: 1019] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:13:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=175.9ms, total=175.9ms [env.py: 1075] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.293, -0.925, -0.140) [env.py: 1079] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.7 deg [env.py: 1082] +05/18 14:13:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.040m [env.py: 1086] +05/18 14:13:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:13:31 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 14:13:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 14:13:31 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 14:13:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.081s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:13:33 ERROR: [Worker 0] Worker 0 house 1 episode 4 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:13:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:13:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.173882m [env.py: 870] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -129.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 28.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 175.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 19.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 161.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=171.1ms, total=171.2ms [env.py: 1105] +05/18 14:13:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:13:34 ERROR: [Worker 0] Worker 0 house 1 episode 5 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:13:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:36 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 14:13:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127782m [env.py: 870] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.64943749 -0.7664735 -0.12778195] yaw=-77.1deg [env.py: 1019] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.38419811 -1.11843307 -0.12778195] yaw=-59.9deg [env.py: 1019] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 59.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -176.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -151.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16371519 -1.43985806 -0.12778195] yaw=-20.2deg [env.py: 1019] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:13:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=132.4ms, total=132.5ms [env.py: 1075] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.649, -0.766, -0.128) [env.py: 1079] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.1 deg [env.py: 1082] +05/18 14:13:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m [env.py: 1086] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:13:36 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 14:13:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 14:13:36 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 14:13:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.907s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:13:47 INFO: [Worker 0] Feasible grasp found 119 (originally 119): w/ 0.740[m] 80.756[deg] [grasp_sample.py: 596] +05/18 14:13:48 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:13:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:49 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 14:13:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:49 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 14:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160332m [env.py: 870] +05/18 14:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -1.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 60.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -54.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -75.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.1ms, retries=176.4ms, total=176.4ms [env.py: 1105] +05/18 14:13:49 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:13:49 ERROR: [Worker 0] Worker 0 house 1 episode 7 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:13:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:13:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:51 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 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.116722m [env.py: 870] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -163.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.02755721 -1.23528687 -0.11672188] yaw=-32.4deg [env.py: 1019] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -111.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.15586681 -1.02407233 -0.11672188] yaw=-45.8deg [env.py: 1019] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:13:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.9ms, total=174.9ms [env.py: 1075] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.028, -1.235, -0.117) [env.py: 1079] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -32.4 deg [env.py: 1082] +05/18 14:13:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.096m [env.py: 1086] +05/18 14:13:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:13:51 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 14:13:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 14:13:51 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 14:13:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.106s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:13:53 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:13:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:13:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:13:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:13:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:13:54 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 14:13:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:13:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121957m [env.py: 870] +05/18 14:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:13:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.79044529 -0.76839768 -0.12195664] yaw=-83.1deg [env.py: 1019] +05/18 14:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -106.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 43.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -146.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -79.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:13:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.2ms, total=178.3ms [env.py: 1075] +05/18 14:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.790, -0.768, -0.122) [env.py: 1079] +05/18 14:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.1 deg [env.py: 1082] +05/18 14:13:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.976m [env.py: 1086] +05/18 14:13:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:13:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:13:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:13:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:13:55 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 14:13:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/18 14:13:55 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 14:13:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:13:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:02 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.777s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:02 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.772[m] 143.859[deg] [grasp_sample.py: 596] +05/18 14:14:03 ERROR: [Worker 0] Worker 0 house 1 episode 9 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:14:04 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:04 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:04 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:04 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:04 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:14:04 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:04 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 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193918m [env.py: 870] +05/18 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:04 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -70.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 43.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -46.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 33.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07624634 -1.31632883 -0.19391812] yaw=-42.0deg [env.py: 1019] +05/18 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:04 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=179.0ms, total=179.0ms [env.py: 1075] +05/18 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.076, -1.316, -0.194) [env.py: 1079] +05/18 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.0 deg [env.py: 1082] +05/18 14:14:04 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.967m [env.py: 1086] +05/18 14:14:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:04 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:04 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:04 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:04 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 14:14:04 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:04 INFO: [Worker 0] Collision-checked 512 grasps in 0.104s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.067s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:14:06 ERROR: [Worker 0] Worker 0 house 1 episode 10 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:14:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:07 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:14:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:07 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.189m, effective arm-mount z=0.671m (base_body_z=-0.189m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188838m [env.py: 870] +05/18 14:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.85912907 -0.86211832 -0.18883811] yaw=-98.6deg [env.py: 1019] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -74.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.49345941 -0.84362647 -0.18883811] yaw=-40.7deg [env.py: 1019] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.18840239 -1.07090933 -0.18883811] yaw=-54.6deg [env.py: 1019] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:08 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=86.9ms, total=86.9ms [env.py: 1075] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.859, -0.862, -0.189) [env.py: 1079] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.6 deg [env.py: 1082] +05/18 14:14:08 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.874m [env.py: 1086] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:08 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:08 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:14:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.985s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:10 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.593[m] 85.235[deg] [grasp_sample.py: 596] +05/18 14:14:11 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:14:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:12 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 14:14:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:12 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 14:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155073m [env.py: 870] +05/18 14:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 6.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.67337326 -0.97904606 -0.1550734 ] yaw=-46.1deg [env.py: 1019] +05/18 14:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 80.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.3ms, total=178.4ms [env.py: 1075] +05/18 14:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.673, -0.979, -0.155) [env.py: 1079] +05/18 14:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.1 deg [env.py: 1082] +05/18 14:14:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.801m [env.py: 1086] +05/18 14:14:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:12 INFO: [Worker 0] Worker 0 house 1 episode 12/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:12 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 14:14:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:13 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:15 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.168s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:15 INFO: [Worker 0] Feasible grasp found 565 (originally 258): w/ 0.665[m] 75.473[deg] [grasp_sample.py: 596] +05/18 14:14:16 ERROR: [Worker 0] Worker 0 house 1 episode 12 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:14:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:14:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117926m [env.py: 870] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.11544232 -1.1265556 -0.11792584] yaw=-49.0deg [env.py: 1019] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -156.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50183699 -1.04891614 -0.11792584] yaw=-30.5deg [env.py: 1019] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 36.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -80.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[-0.02211239 -1.32661146 -0.11792584] yaw=-47.4deg [env.py: 1019] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.3ms, total=118.3ms [env.py: 1075] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.115, -1.127, -0.118) [env.py: 1079] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.0 deg [env.py: 1082] +05/18 14:14:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.030m [env.py: 1086] +05/18 14:14:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:17 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:17 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:17 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:14:17 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:17 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.061s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:14:19 ERROR: [Worker 0] Worker 0 house 1 episode 13 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:14:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:21 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 14:14:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:21 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 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160047m [env.py: 870] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.24562107 -1.14608176 -0.16004686] yaw=-57.5deg [env.py: 1019] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.56380815 -0.95899908 -0.16004686] yaw=-39.9deg [env.py: 1019] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 50.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.30019751 -1.15451705 -0.16004686] yaw=-64.8deg [env.py: 1019] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=163.5ms, total=163.5ms [env.py: 1075] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.246, -1.146, -0.160) [env.py: 1079] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg [env.py: 1082] +05/18 14:14:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.916m [env.py: 1086] +05/18 14:14:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:21 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:14:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.787s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:27 INFO: [Worker 0] Feasible grasp found 63 (originally 63): w/ 0.697[m] 73.210[deg] [grasp_sample.py: 596] +05/18 14:14:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:14:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:14:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:15:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:15:18 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:15:21 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:15:59 INFO: [Worker 0] Worker 0 house 1 episode 14 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:16:12 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/dresser/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 14:16:12 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:16:12 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 278] +05/18 14:16:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:16:22 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 14:16:22 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.76s (batch: 2.25s, save: 7.51s) [pipeline.py: 300] +05/18 14:16:22 INFO: [Worker 0] [PROFILE] Episode 14 house 1 success=True episode_total=7.08s: + episode_total: mean=16.11s, total=241.70s, count=15, min=178.8ms, max=121588.1ms + sensor_polling: mean=313.3ms, total=95.57s, count=305, min=291.0ms, max=408.4ms + save_trajectories: mean=7.51s, total=7.51s, count=1, min=7509.5ms, max=7509.5ms + task_sampling: mean=544.4ms, total=7.08s, count=13, min=276.3ms, max=2858.0ms + physics_step: mean=19.0ms, total=5.80s, count=305, min=14.1ms, max=24.3ms + task_specific_sample: mean=330.1ms, total=4.95s, count=15, min=175.9ms, max=401.9ms + scene_load: mean=2.45s, total=2.45s, count=1, min=2453.4ms, max=2453.4ms + save_batch_prep: mean=2.25s, total=2.25s, count=1, min=2249.2ms, max=2249.2ms + scene_env_create: mean=1.36s, total=1.36s, count=1, min=1364.9ms, max=1364.9ms + scene_compile: mean=915.0ms, total=915.0ms, count=1, min=915.0ms, max=915.0ms + compile_mujoco: mean=658.8ms, total=658.8ms, count=1, min=658.8ms, max=658.8ms + task_sampling_failed: mean=182.4ms, total=364.8ms, count=2, min=178.8ms, max=186.0ms + compile_xml_load: mean=196.7ms, total=196.7ms, count=1, min=196.7ms, max=196.7ms + scene_init: mean=88.1ms, total=88.1ms, count=1, min=88.1ms, max=88.1ms + scene_asset_install: mean=85.2ms, total=85.2ms, count=1, min=85.2ms, max=85.2ms + asset_install_grasps: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms + compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms + compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms + asset_install_objects: mean=21.1ms, total=21.1ms, count=1, min=21.1ms, max=21.1ms + scene_randomize: mean=1.2ms, total=17.4ms, count=15, min=0.9ms, max=1.9ms + asset_install_scene: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + mj_forward_sync: mean=400.7us, total=6.0ms, count=15, min=0.3ms, max=0.4ms + compile_robot_add: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms + policy_setup: mean=15.2us, total=0.2ms, count=13, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=14, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:16:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:16:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:16:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:16:23 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 14:16:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:16:23 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.167m, effective arm-mount z=0.693m (base_body_z=-0.167m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167195m [env.py: 870] +05/18 14:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:16:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 86.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 38.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.14649494 -1.14444755 -0.16719473] yaw=-62.7deg [env.py: 1019] +05/18 14:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:16:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=178.2ms, total=178.2ms [env.py: 1075] +05/18 14:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.146, -1.144, -0.167) [env.py: 1079] +05/18 14:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.7 deg [env.py: 1082] +05/18 14:16:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/18 14:16:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:16:24 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 14:16:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/18 14:16:24 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 14:16:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:16:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:16:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.974s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:16:26 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:16:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:16:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:16:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:16:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:16:27 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 14:16:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:16:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149308m [env.py: 870] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:16:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.43610355 -0.89997887 -0.14930785] yaw=-29.7deg [env.py: 1019] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 179.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36276222 -1.04422177 -0.14930785] yaw=-63.6deg [env.py: 1019] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.33240289 -1.03172724 -0.14930785] yaw=-29.8deg [env.py: 1019] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:16:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=174.6ms, total=174.7ms [env.py: 1075] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.436, -0.900, -0.149) [env.py: 1079] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -29.7 deg [env.py: 1082] +05/18 14:16:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.977m [env.py: 1086] +05/18 14:16:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:16:27 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 14:16:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 14:16:27 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 14:16:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:16:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:16:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.053s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:16:34 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.978[m] 87.668[deg] [grasp_sample.py: 596] +05/18 14:16:34 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:16:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:16:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:16:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:16:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:16:36 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 14:16:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:16:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.192m, effective arm-mount z=0.668m (base_body_z=-0.192m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191684m [env.py: 870] +05/18 14:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:16:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 71.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -22.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -165.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -12.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=168.0ms, total=168.1ms [env.py: 1105] +05/18 14:16:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:16:36 ERROR: [Worker 0] Worker 0 house 1 episode 17 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:16:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:16:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:16:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:16:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:16:37 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 14:16:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:16:37 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 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174389m [env.py: 870] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:16:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.40712628 -1.0573844 -0.1743891 ] yaw=-44.1deg [env.py: 1019] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 0.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.43806778 -0.94837758 -0.1743891 ] yaw=-29.4deg [env.py: 1019] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.47492733 -1.0417665 -0.1743891 ] yaw=-47.0deg [env.py: 1019] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:16:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=99.2ms, total=99.2ms [env.py: 1075] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.407, -1.057, -0.174) [env.py: 1079] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.1 deg [env.py: 1082] +05/18 14:16:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/18 14:16:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:16:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:16:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:16:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:16:37 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 14:16:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 14:16:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:16:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:16:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:16:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.099s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:16:40 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.611[m] 69.855[deg] [grasp_sample.py: 596] +05/18 14:16:40 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:16:40 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:16:40 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:17:19 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:17:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:17:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:18:07 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:18:20 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/dresser/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 14:18:20 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:18:20 INFO: [Worker 0] Preparing episode data: 256 timesteps [save_utils.py: 278] +05/18 14:18:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:18:29 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 14:18:29 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.43s (batch: 2.33s, save: 7.10s) [pipeline.py: 300] +05/18 14:18:29 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=True episode_total=1.03s: + episode_total: mean=30.61s, total=122.43s, count=4, min=177.1ms, max=112239.4ms + sensor_polling: mean=315.6ms, total=80.49s, count=255, min=296.5ms, max=415.6ms + save_trajectories: mean=7.10s, total=7.10s, count=1, min=7103.5ms, max=7103.5ms + physics_step: mean=19.0ms, total=4.84s, count=255, min=13.4ms, max=23.5ms + save_batch_prep: mean=2.33s, total=2.33s, count=1, min=2331.1ms, max=2331.1ms + task_specific_sample: mean=299.1ms, total=1.20s, count=4, min=173.3ms, max=381.0ms + task_sampling: mean=343.6ms, total=1.03s, count=3, min=285.8ms, max=383.9ms + task_sampling_failed: mean=177.0ms, total=177.0ms, count=1, min=177.0ms, max=177.0ms + scene_randomize: mean=1.4ms, total=5.4ms, count=4, min=1.1ms, max=1.7ms + mj_forward_sync: mean=400.1us, total=1.6ms, count=4, min=0.4ms, max=0.4ms + policy_setup: mean=14.5us, total=0.0ms, count=3, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:18:31 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:18:31 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:18:31 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:18:31 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:18:31 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 14:18:31 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:18:31 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179542m [env.py: 870] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:18:31 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -47.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.82149061 -0.76596283 -0.17954205] yaw=-72.2deg [env.py: 1019] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -20.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.20747604 -0.9847948 -0.17954205] yaw=-40.9deg [env.py: 1019] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.03954741 -1.28444574 -0.17954205] yaw=-14.6deg [env.py: 1019] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:18:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=171.8ms, total=171.8ms [env.py: 1075] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.821, -0.766, -0.180) [env.py: 1079] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.2 deg [env.py: 1082] +05/18 14:18:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/18 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:18:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:18:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:18:31 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 14:18:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/18 14:18:31 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 14:18:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:18:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:18:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.722s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:18:34 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.568[m] 88.513[deg] [grasp_sample.py: 596] +05/18 14:18:34 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:18:34 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:18:34 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:18:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:19:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:19:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:19:12 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 14:19:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.087s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.568s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:19:13 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.208[m] 25.103[deg] [grasp_sample.py: 596] +05/18 14:19:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:19:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:19:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:19:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:19:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:19:24 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 14:19:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.579s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:19:25 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.203[m] 24.311[deg] [grasp_sample.py: 596] +05/18 14:19:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:19:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:19:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:19:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:36 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:19:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:19:36 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 14:19:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.466s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:19:36 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.203[m] 24.314[deg] [grasp_sample.py: 596] +05/18 14:19:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:19:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:19:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:19:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:19:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:19:47 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:19:47 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:19:47 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=False episode_total=0.38s: + episode_total: mean=76.80s, total=76.80s, count=1, min=76797.0ms, max=76797.0ms + sensor_polling: mean=319.9ms, total=37.43s, count=117, min=296.4ms, max=411.8ms + physics_step: mean=17.4ms, total=2.04s, count=117, min=11.9ms, max=26.1ms + task_sampling: mean=382.9ms, total=382.9ms, count=1, min=382.9ms, max=382.9ms + task_specific_sample: mean=379.8ms, total=379.8ms, count=1, min=379.8ms, max=379.8ms + scene_randomize: mean=2.0ms, total=2.0ms, count=1, min=2.0ms, max=2.0ms + mj_forward_sync: mean=426.5us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.8us, 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 14:19:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:49 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:19:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:49 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106200m [env.py: 870] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 32.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.53299337 -0.97894372 -0.10620006] yaw=-56.4deg [env.py: 1019] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 3.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 60.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26780803 -1.01243601 -0.10620006] yaw=-63.2deg [env.py: 1019] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=177.5ms, total=177.5ms [env.py: 1075] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.533, -0.979, -0.106) [env.py: 1079] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.4 deg [env.py: 1082] +05/18 14:19:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/18 14:19:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:49 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:49 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 14:19:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.952s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:19:56 INFO: [Worker 0] Feasible grasp found 69 (originally 69): w/ 0.655[m] 104.874[deg] [grasp_sample.py: 596] +05/18 14:19:57 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:19:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:19:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:58 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127871m [env.py: 870] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -87.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -111.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.64398402 -0.9158008 -0.12787124] yaw=-49.2deg [env.py: 1019] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 172.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.12624086 -1.38156234 -0.12787124] yaw=-38.6deg [env.py: 1019] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.46452307 -0.78121326 -0.12787124] yaw=-83.5deg [env.py: 1019] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=131.9ms, total=131.9ms [env.py: 1075] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.644, -0.916, -0.128) [env.py: 1079] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg [env.py: 1082] +05/18 14:19:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.871m [env.py: 1086] +05/18 14:19:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:59 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:19:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:20:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.890s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:20:00 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.660[m] 136.768[deg] [grasp_sample.py: 596] +05/18 14:20:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:20:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:20:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:20:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:20:49 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:20:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:20:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:21:36 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:21:36 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:21:36 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:21:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:21:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.169s, found 97 non-colliding grasps [grasp_sample.py: 520] +05/18 14:21:37 INFO: [Worker 0] Feasibility-checked 97 grasps in 0.311s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:21:37 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.036[m] 4.306[deg] [grasp_sample.py: 596] +05/18 14:21:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:21:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:21:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:21:40 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:21:42 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:21:57 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/dresser/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 14:21:57 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:21:57 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:22:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:22:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 14:22:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 10.85s (batch: 2.34s, save: 8.51s) [pipeline.py: 300] +05/18 14:22:08 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.70s: + episode_total: mean=69.00s, total=138.01s, count=2, min=8424.5ms, max=129582.6ms + sensor_polling: mean=312.5ms, total=93.75s, count=300, min=269.3ms, max=416.4ms + save_trajectories: mean=8.51s, total=8.51s, count=1, min=8514.8ms, max=8514.8ms + physics_step: mean=18.9ms, total=5.66s, count=300, min=13.7ms, max=29.7ms + save_batch_prep: mean=2.34s, total=2.34s, count=1, min=2339.7ms, max=2339.7ms + task_sampling: mean=348.7ms, total=697.3ms, count=2, min=319.2ms, max=378.1ms + task_specific_sample: mean=345.9ms, total=691.8ms, count=2, min=316.7ms, max=375.1ms + scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=1.0ms, max=1.2ms + mj_forward_sync: mean=415.3us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=13.8us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:22:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:09 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:22:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:09 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.193m, effective arm-mount z=0.667m (base_body_z=-0.193m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193426m [env.py: 870] +05/18 14:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -109.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 66.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.73705086 -0.72086289 -0.19342557] yaw=-97.8deg [env.py: 1019] +05/18 14:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 40.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=182.4ms, total=182.4ms [env.py: 1075] +05/18 14:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.737, -0.721, -0.193) [env.py: 1079] +05/18 14:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -97.8 deg [env.py: 1082] +05/18 14:22:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.032m [env.py: 1086] +05/18 14:22:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:22:09 INFO: [Worker 0] Worker 0 house 1 episode 22/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:09 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 14:22:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:22:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.163s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:22:16 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.662[m] 97.765[deg] [grasp_sample.py: 596] +05/18 14:22:17 ERROR: [Worker 0] Worker 0 house 1 episode 22 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:22:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:22:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.122654m [env.py: 870] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -28.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 48.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 15.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=170.3ms, total=170.3ms [env.py: 1105] +05/18 14:22:18 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:22:18 ERROR: [Worker 0] Worker 0 house 1 episode 23 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:22:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:22:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:22:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:22:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:22:19 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 14:22:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:22:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149421m [env.py: 870] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:22:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -67.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.76286236 -0.73169065 -0.14942082] yaw=-73.9deg [env.py: 1019] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.38473195 -1.14685457 -0.14942082] yaw=-59.1deg [env.py: 1019] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -176.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:22:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.5ms, total=176.5ms [env.py: 1075] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.763, -0.732, -0.149) [env.py: 1079] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.9 deg [env.py: 1082] +05/18 14:22:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/18 14:22:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:22:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:22:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:22:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:22:20 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 14:22:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/18 14:22:20 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 14:22:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:22:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:23:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 43.876s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:23:04 INFO: [Worker 0] Feasible grasp found 16 (originally 16): w/ 0.615[m] 87.418[deg] [grasp_sample.py: 596] +05/18 14:23:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:23:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:23:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:23:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:23:51 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:23:54 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:24:33 INFO: [Worker 0] Worker 0 house 1 episode 24 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:24:45 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/dresser/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 14:24:45 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:24:45 INFO: [Worker 0] Preparing episode data: 257 timesteps [save_utils.py: 278] +05/18 14:24:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:24:55 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 14:24:55 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.50s (batch: 2.35s, save: 7.15s) [pipeline.py: 300] +05/18 14:24:55 INFO: [Worker 0] [PROFILE] Episode 24 house 1 success=True episode_total=0.77s: + episode_total: mean=54.70s, total=164.09s, count=3, min=179.4ms, max=156240.5ms + sensor_polling: mean=319.1ms, total=81.69s, count=256, min=294.3ms, max=448.0ms + save_trajectories: mean=7.15s, total=7.15s, count=1, min=7149.4ms, max=7149.4ms + physics_step: mean=19.0ms, total=4.87s, count=256, min=14.2ms, max=26.2ms + save_batch_prep: mean=2.35s, total=2.35s, count=1, min=2353.8ms, max=2353.8ms + task_specific_sample: mean=312.9ms, total=938.8ms, count=3, min=174.8ms, max=393.7ms + task_sampling: mean=384.5ms, total=769.1ms, count=2, min=372.4ms, max=396.7ms + task_sampling_failed: mean=179.4ms, total=179.4ms, count=1, min=179.4ms, max=179.4ms + scene_randomize: mean=1.3ms, total=3.8ms, count=3, min=1.0ms, max=1.7ms + mj_forward_sync: mean=405.2us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + 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 14:24:57 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:24:57 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:24:57 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:24:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:57 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:24:57 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:24:57 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:24:57 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127704m [env.py: 870] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:24:57 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.25196871 -1.12793616 -0.12770366] yaw=-63.7deg [env.py: 1019] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -86.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.20668903 -0.97074061 -0.12770366] yaw=-63.1deg [env.py: 1019] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.24984235 -1.11623386 -0.12770366] yaw=-68.1deg [env.py: 1019] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:24:57 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.1ms, retries=89.6ms, total=89.6ms [env.py: 1075] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.252, -1.128, -0.128) [env.py: 1079] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.7 deg [env.py: 1082] +05/18 14:24:57 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.922m [env.py: 1086] +05/18 14:24:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:24:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:24:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:24:57 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:24:57 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 14:24:57 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/18 14:24:57 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:24:57 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:24:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.103s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:24:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.143s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:24:59 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.887[m] 71.113[deg] [grasp_sample.py: 596] +05/18 14:24:59 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:25:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:25:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:25:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:26:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:26:07 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:26:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:26:43 INFO: [Worker 0] Worker 0 house 1 episode 25 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:26:58 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/dresser/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 14:26:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:26:58 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:27:09 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:27:09 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 14:27:09 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 11.14s (batch: 2.43s, save: 8.71s) [pipeline.py: 300] +05/18 14:27:10 INFO: [Worker 0] [PROFILE] Episode 25 house 1 success=True episode_total=0.29s: + episode_total: mean=133.14s, total=133.14s, count=1, min=133141.9ms, max=133141.9ms + sensor_polling: mean=315.7ms, total=94.72s, count=300, min=282.4ms, max=431.2ms + save_trajectories: mean=8.71s, total=8.71s, count=1, min=8705.4ms, max=8705.4ms + physics_step: mean=19.1ms, total=5.72s, count=300, min=13.6ms, max=22.0ms + save_batch_prep: mean=2.43s, total=2.43s, count=1, min=2433.1ms, max=2433.1ms + task_sampling: mean=290.6ms, total=290.6ms, count=1, min=290.6ms, max=290.6ms + task_specific_sample: mean=286.9ms, total=286.9ms, count=1, min=286.9ms, max=286.9ms + scene_randomize: mean=2.5ms, total=2.5ms, count=1, min=2.5ms, max=2.5ms + mj_forward_sync: mean=405.9us, total=0.4ms, count=1, min=0.4ms, max=0.4ms + policy_setup: mean=16.2us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:27:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:27:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:27:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:27:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:27:11 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:27:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:27:11 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 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177398m [env.py: 870] +05/18 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:27:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[-0.03718079 -1.33988888 -0.17739825] yaw=-45.4deg [env.py: 1019] +05/18 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -36.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5994651 -0.70320667 -0.17739825] yaw=-83.5deg [env.py: 1019] +05/18 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:27:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=184.6ms, total=184.6ms [env.py: 1075] +05/18 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.037, -1.340, -0.177) [env.py: 1079] +05/18 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.4 deg [env.py: 1082] +05/18 14:27:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/18 14:27:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:27:11 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 14:27:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.058s [base_object_manipulation_planner_policy.py: 377] +05/18 14:27:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:27:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:27:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:27:13 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.015s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:27:13 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:27:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:27:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:27:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:27:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:27:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:27:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104678m [env.py: 870] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:27:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 4.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -13.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -1.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -14.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.11006179 -1.27096861 -0.10467832] yaw=-10.6deg [env.py: 1019] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:27:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=175.8ms, total=175.9ms [env.py: 1075] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.110, -1.271, -0.105) [env.py: 1079] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -10.6 deg [env.py: 1082] +05/18 14:27:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.958m [env.py: 1086] +05/18 14:27:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:27:15 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 14:27:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/18 14:27:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:27:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:27:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.102s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:27:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.071s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:27:17 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:27:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:27:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:27:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:27:18 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 14:27:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:27:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118468m [env.py: 870] +05/18 14:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:27:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:27:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -177.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -50.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -18.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -0.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -163.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=172.3ms, total=172.3ms [env.py: 1105] +05/18 14:27:19 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:27:19 ERROR: [Worker 0] Worker 0 house 1 episode 28 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:27:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:27:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:27:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:27:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:27:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:27:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:27:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.129m, effective arm-mount z=0.731m (base_body_z=-0.129m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128801m [env.py: 870] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:27:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -15.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -89.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.41958447 -0.94351806 -0.1288007 ] yaw=-60.5deg [env.py: 1019] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:27:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=175.0ms, total=175.1ms [env.py: 1075] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.420, -0.944, -0.129) [env.py: 1079] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -60.5 deg [env.py: 1082] +05/18 14:27:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.949m [env.py: 1086] +05/18 14:27:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:27:20 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 14:27:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +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 14:27:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:27:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.191s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:27:23 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.692[m] 99.903[deg] [grasp_sample.py: 596] +05/18 14:27:24 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:27:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:27:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:27:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:27:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:27:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:27:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:27:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.178m, effective arm-mount z=0.682m (base_body_z=-0.178m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.178491m [env.py: 870] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:27:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -15.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 79.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.1195274 -1.4218717 -0.17849096] yaw=-12.7deg [env.py: 1019] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -91.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -34.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.73117883 -0.74072282 -0.17849096] yaw=-53.2deg [env.py: 1019] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:27:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=180.0ms, total=180.1ms [env.py: 1075] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.120, -1.422, -0.178) [env.py: 1079] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -12.7 deg [env.py: 1082] +05/18 14:27:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.886m [env.py: 1086] +05/18 14:27:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:27:25 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 14:27:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.038s [base_object_manipulation_planner_policy.py: 377] +05/18 14:27:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:27:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:27:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.088s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:27:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.125s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:27:32 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.806[m] 86.220[deg] [grasp_sample.py: 596] +05/18 14:27:33 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:27:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:27:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:27:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:27:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:27:35 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 14:27:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:27:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.122m, effective arm-mount z=0.738m (base_body_z=-0.122m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.121831m [env.py: 870] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:27:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -133.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.56391149 -0.99440546 -0.12183142] yaw=-75.0deg [env.py: 1019] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 65.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.24635676 -1.18383622 -0.12183142] yaw=-52.3deg [env.py: 1019] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:27:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=181.8ms, total=181.8ms [env.py: 1075] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.564, -0.994, -0.122) [env.py: 1079] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.0 deg [env.py: 1082] +05/18 14:27:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/18 14:27:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:27:35 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 14:27:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 14:27:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:27:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:27:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:27:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.910s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:27:36 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.593[m] 93.870[deg] [grasp_sample.py: 596] +05/18 14:27:37 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:27:37 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/18 14:27:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:27:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:27:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:27:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:27:38 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 14:27:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:27:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.185m, effective arm-mount z=0.675m (base_body_z=-0.185m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.185421m [env.py: 870] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:27:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.50195361 -0.72734625 -0.18542113] yaw=-85.6deg [env.py: 1019] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.25175387 -1.11175924 -0.18542113] yaw=-32.6deg [env.py: 1019] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.83594057 -0.68178373 -0.18542113] yaw=-109.3deg [env.py: 1019] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:27:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 4 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=85.6ms, total=85.7ms [env.py: 1075] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.502, -0.727, -0.185) [env.py: 1079] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -85.6 deg [env.py: 1082] +05/18 14:27:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/18 14:27:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:27:39 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 14:27:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 14:27:39 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 14:27:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:27:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:27:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.054s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:27:41 ERROR: [Worker 0] Worker 0 house 1 episode 32 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:27:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:27:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:27:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:27:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:27:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:27:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:27:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.187m, effective arm-mount z=0.673m (base_body_z=-0.187m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187108m [env.py: 870] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:27:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 73.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.02736352 -1.23006072 -0.18710809] yaw=-14.1deg [env.py: 1019] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -162.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -172.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -67.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.2859758 -1.14688291 -0.18710809] yaw=-36.0deg [env.py: 1019] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:27:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.3ms, total=178.4ms [env.py: 1075] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.027, -1.230, -0.187) [env.py: 1079] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -14.1 deg [env.py: 1082] +05/18 14:27:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.050m [env.py: 1086] +05/18 14:27:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:27:42 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 14:27:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 14:27:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:27:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:27:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:27:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.104s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:27:45 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:27:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:27:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:27:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:27:46 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 14:27:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:27:46 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182832m [env.py: 870] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:27:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -44.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -99.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -30.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.76286842 -0.73861705 -0.18283228] yaw=-88.3deg [env.py: 1019] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:27:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=175.3ms, total=175.4ms [env.py: 1075] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.763, -0.739, -0.183) [env.py: 1079] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.3 deg [env.py: 1082] +05/18 14:27:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.010m [env.py: 1086] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:27:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:27:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:27:46 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 14:27:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 14:27:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:27:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:27:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:27:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.815s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:27:55 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.672[m] 97.364[deg] [grasp_sample.py: 596] +05/18 14:27:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:27:56 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:27:56 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:28:41 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:28:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:28:56 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:28:59 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:29:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:29:00 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:29:00 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:29:00 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:29:00 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:00 INFO: [Worker 0] Collision-checked 512 grasps in 0.088s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:06 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.124s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:29:06 INFO: [Worker 0] Feasible grasp found 119 (originally 119): w/ 0.189[m] 23.570[deg] [grasp_sample.py: 596] +05/18 14:29:07 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:29:07 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:29:07 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:29:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:29:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:29:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.091s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 11.178s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:29:18 INFO: [Worker 0] Feasible grasp found 81 (originally 81): w/ 0.301[m] 45.945[deg] [grasp_sample.py: 596] +05/18 14:29:20 ERROR: [Worker 0] Worker 0 house 1 episode 34 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:29:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:21 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 14:29:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:21 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 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160833m [env.py: 870] +05/18 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15214754 -1.42833837 -0.16083291] yaw=-13.7deg [env.py: 1019] +05/18 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 24.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.23613918 -1.27398668 -0.16083291] yaw=-38.7deg [env.py: 1019] +05/18 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -50.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=178.1ms, total=178.1ms [env.py: 1075] +05/18 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.152, -1.428, -0.161) [env.py: 1079] +05/18 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.7 deg [env.py: 1082] +05/18 14:29:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.853m [env.py: 1086] +05/18 14:29:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:21 INFO: [Worker 0] Worker 0 house 1 episode 35/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:29:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.897s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:29:24 INFO: [Worker 0] Feasible grasp found 142 (originally 142): w/ 0.761[m] 84.085[deg] [grasp_sample.py: 596] +05/18 14:29:25 ERROR: [Worker 0] Worker 0 house 1 episode 35 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:29:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:29:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:29:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:29:26 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:29:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:29:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194284m [env.py: 870] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:29:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 51.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -21.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -127.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.87251984 -0.93005876 -0.19428449] yaw=-95.1deg [env.py: 1019] +05/18 14:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 16.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.21037549 -1.11802121 -0.19428449] yaw=-42.8deg [env.py: 1019] +05/18 14:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:29:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=181.3ms, total=181.3ms [env.py: 1075] +05/18 14:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.873, -0.930, -0.194) [env.py: 1079] +05/18 14:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -95.1 deg [env.py: 1082] +05/18 14:29:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.805m [env.py: 1086] +05/18 14:29:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:29:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:29:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:29:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:29:27 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 14:29:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.041s [base_object_manipulation_planner_policy.py: 377] +05/18 14:29:27 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:29:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:29:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:29:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.844s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:29:28 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.506[m] 103.596[deg] [grasp_sample.py: 596] +05/18 14:29:28 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:29:29 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:29:29 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:29:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:29:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:29:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:29:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:29:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:30:07 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:30:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:30:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:30:57 INFO: [Worker 0] Worker 0 house 1 episode 36 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:31:10 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/dresser/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 14:31:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:31:10 INFO: [Worker 0] Preparing episode data: 241 timesteps [save_utils.py: 278] +05/18 14:31:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:31:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 14:31:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.11s (batch: 2.24s, save: 6.87s) [pipeline.py: 300] +05/18 14:31:19 INFO: [Worker 0] [PROFILE] Episode 36 house 1 success=True episode_total=3.65s: + episode_total: mean=21.47s, total=236.21s, count=11, min=180.3ms, max=112674.1ms + sensor_polling: mean=317.4ms, total=127.90s, count=403, min=279.5ms, max=432.1ms + physics_step: mean=18.8ms, total=7.57s, count=403, min=13.5ms, max=28.5ms + save_trajectories: mean=6.87s, total=6.87s, count=1, min=6870.8ms, max=6870.8ms + task_specific_sample: mean=345.2ms, total=3.80s, count=11, min=176.9ms, max=393.5ms + task_sampling: mean=364.5ms, total=3.65s, count=10, min=275.3ms, max=396.5ms + save_batch_prep: mean=2.24s, total=2.24s, count=1, min=2237.8ms, max=2237.8ms + task_sampling_failed: mean=180.2ms, total=180.2ms, count=1, min=180.2ms, max=180.2ms + scene_randomize: mean=1.2ms, total=13.0ms, count=11, min=1.0ms, max=1.8ms + mj_forward_sync: mean=400.2us, total=4.4ms, count=11, min=0.4ms, max=0.4ms + policy_setup: mean=13.9us, total=0.1ms, count=10, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=11, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:31:20 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:31:20 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:31:20 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:31:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:31:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:31:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:31:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:31:20 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:31:20 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:31:20 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:31:20 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197802m [env.py: 870] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:31:20 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.16846355 -1.39966617 -0.19780249] yaw=1.7deg [env.py: 1019] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -154.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.4207845 -0.76996694 -0.19780249] yaw=-45.5deg [env.py: 1019] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.13312665 -1.1758688 -0.19780249] yaw=-28.4deg [env.py: 1019] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:31:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=121.1ms, total=121.1ms [env.py: 1075] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.168, -1.400, -0.198) [env.py: 1079] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 1.7 deg [env.py: 1082] +05/18 14:31:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.849m [env.py: 1086] +05/18 14:31:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:31:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:31:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:31:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:31:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:31:21 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 14:31:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/18 14:31:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:31:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:31:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:31:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.468s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:31:24 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.670[m] 76.291[deg] [grasp_sample.py: 596] +05/18 14:31:25 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:31:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:31:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:31:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:31:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:31:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:31:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:31:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:31:26 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 14:31:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:31:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.198m, effective arm-mount z=0.662m (base_body_z=-0.198m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197746m [env.py: 870] +05/18 14:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:31:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.31918441 -0.89677241 -0.19774596] yaw=-46.3deg [env.py: 1019] +05/18 14:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 78.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 72.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -13.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.05097009 -1.38805949 -0.19774596] yaw=-43.5deg [env.py: 1019] +05/18 14:31:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.66485218 -0.95797772 -0.19774596] yaw=-63.9deg [env.py: 1019] +05/18 14:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:31:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.2ms, total=150.3ms [env.py: 1075] +05/18 14:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.319, -0.897, -0.198) [env.py: 1079] +05/18 14:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -46.3 deg [env.py: 1082] +05/18 14:31:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.046m [env.py: 1086] +05/18 14:31:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:31:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:31:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:31:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:31:27 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 14:31:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 14:31:27 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 14:31:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:31:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:31:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.267s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:31:30 INFO: [Worker 0] Feasible grasp found 4 (originally 4): w/ 0.769[m] 70.366[deg] [grasp_sample.py: 596] +05/18 14:31:31 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:31:32 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:31:32 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:31:32 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:31:32 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:31:32 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:31:32 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:31:32 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.165m, effective arm-mount z=0.695m (base_body_z=-0.165m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.165137m [env.py: 870] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:31:32 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -87.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -4.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 56.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -142.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.69961883 -0.78978499 -0.16513662] yaw=-98.3deg [env.py: 1019] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.62943651 -0.7101137 -0.16513662] yaw=-63.5deg [env.py: 1019] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.14225575 -1.41943099 -0.16513662] yaw=-26.5deg [env.py: 1019] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:31:32 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.3ms, total=149.3ms [env.py: 1075] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.700, -0.790, -0.165) [env.py: 1079] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.3 deg [env.py: 1082] +05/18 14:31:32 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.974m [env.py: 1086] +05/18 14:31:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:31:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:31:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:31:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:31:33 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 14:31:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 14:31:33 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:31:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:31:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:31:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.239s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:31:35 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.705[m] 92.500[deg] [grasp_sample.py: 596] +05/18 14:31:36 ERROR: [Worker 0] Worker 0 house 1 episode 39 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:31:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:31:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:31:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:31:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:31:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:31:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:31:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:31:37 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 14:31:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:31:37 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 14:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.117390m [env.py: 870] +05/18 14:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:31:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -111.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 35.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -40.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -130.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -153.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=170.5ms, total=170.5ms [env.py: 1105] +05/18 14:31:37 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:31:37 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 14:31:39 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:31:39 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:31:39 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:31:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:31:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:31:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:31:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:31:39 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:31:39 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 14:31:39 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:31:39 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.116m, effective arm-mount z=0.744m (base_body_z=-0.116m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.115663m [env.py: 870] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:31:39 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 79.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.39111107 -0.90744646 -0.11566251] yaw=-63.9deg [env.py: 1019] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -10.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46385643 -1.05848827 -0.11566251] yaw=-71.3deg [env.py: 1019] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.26010385 -0.99338283 -0.11566251] yaw=-36.1deg [env.py: 1019] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:31:39 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=100.7ms, total=100.8ms [env.py: 1075] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.391, -0.907, -0.116) [env.py: 1079] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.9 deg [env.py: 1082] +05/18 14:31:39 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.995m [env.py: 1086] +05/18 14:31:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:31:39 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:31:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:31:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:31:39 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:31:39 INFO: [Worker 0] Worker 0 house 1 episode 41/72 collected=0/12 [pipeline.py: 1044] +05/18 14:31:39 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 14:31:39 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 14:31:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:31:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:31:41 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.274s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:31:41 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.767[m] 130.152[deg] [grasp_sample.py: 596] +05/18 14:31:41 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:31:42 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:31:42 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:31:42 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 14:32:35 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:32:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:32:44 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:33:23 INFO: [Worker 0] Worker 0 house 1 episode 41 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:33:38 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/dresser/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 14:33:38 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:33:38 INFO: [Worker 0] Preparing episode data: 299 timesteps [save_utils.py: 278] +05/18 14:33:48 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:33:48 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 14:33:48 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 10.74s (batch: 2.40s, save: 8.33s) [pipeline.py: 300] +05/18 14:33:49 INFO: [Worker 0] [PROFILE] Episode 41 house 1 success=True episode_total=1.30s: + episode_total: mean=28.74s, total=143.70s, count=5, min=179.3ms, max=130236.6ms + sensor_polling: mean=313.3ms, total=93.38s, count=298, min=289.8ms, max=417.3ms + save_trajectories: mean=8.33s, total=8.33s, count=1, min=8334.4ms, max=8334.4ms + physics_step: mean=18.9ms, total=5.63s, count=298, min=13.9ms, max=24.6ms + save_batch_prep: mean=2.40s, total=2.40s, count=1, min=2403.5ms, max=2403.5ms + task_specific_sample: mean=292.9ms, total=1.46s, count=5, min=175.1ms, max=342.9ms + task_sampling: mean=324.9ms, total=1.30s, count=4, min=287.7ms, max=345.6ms + task_sampling_failed: mean=179.3ms, total=179.3ms, count=1, min=179.3ms, max=179.3ms + scene_randomize: mean=1.3ms, total=6.3ms, count=5, min=1.0ms, max=1.8ms + mj_forward_sync: mean=406.3us, total=2.0ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=13.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:33:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:50 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:33:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:50 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.130m, effective arm-mount z=0.730m (base_body_z=-0.130m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129539m [env.py: 870] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -82.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -92.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.0254254 -1.35877921 -0.12953851] yaw=-49.2deg [env.py: 1019] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -105.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 175.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=176.7ms, total=176.8ms [env.py: 1075] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.025, -1.359, -0.130) [env.py: 1079] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.2 deg [env.py: 1082] +05/18 14:33:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.997m [env.py: 1086] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:50 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:50 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:33:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:52 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.054s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:33:52 ERROR: [Worker 0] Worker 0 house 1 episode 42 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:33:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:33:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.111m, effective arm-mount z=0.749m (base_body_z=-0.111m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.110792m [env.py: 870] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.26265864 -1.17341211 -0.1107919 ] yaw=-13.4deg [env.py: 1019] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -77.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.91212101 -0.6941672 -0.1107919 ] yaw=-82.7deg [env.py: 1019] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=177.3ms, total=177.4ms [env.py: 1075] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.263, -1.173, -0.111) [env.py: 1079] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.4 deg [env.py: 1082] +05/18 14:33:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.885m [env.py: 1086] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:54 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:54 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 14:33:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.100s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:33:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.919s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:33:56 INFO: [Worker 0] Feasible grasp found 253 (originally 253): w/ 0.835[m] 78.628[deg] [grasp_sample.py: 596] +05/18 14:33:57 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:33:58 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:33:58 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:33:58 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:33:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:58 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:33:58 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:33:58 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:33:58 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 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.161414m [env.py: 870] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:33:58 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.32242028 -0.92045838 -0.16141446] yaw=-66.8deg [env.py: 1019] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46144336 -1.03608716 -0.16141446] yaw=-60.1deg [env.py: 1019] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -168.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 57.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.27971432 -0.87829067 -0.16141446] yaw=-56.9deg [env.py: 1019] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:33:58 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=150.3ms, total=150.3ms [env.py: 1075] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.322, -0.920, -0.161) [env.py: 1079] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.8 deg [env.py: 1082] +05/18 14:33:58 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.025m [env.py: 1086] +05/18 14:33:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:33:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:33:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:33:59 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:33:59 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/18 14:33:59 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 14:33:59 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:33:59 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:33:59 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:34:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.171s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:34:04 INFO: [Worker 0] Feasible grasp found 137 (originally 137): w/ 0.874[m] 66.577[deg] [grasp_sample.py: 596] +05/18 14:34:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:34:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:34:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:34:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:35:03 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:35:11 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:35:14 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:35:48 INFO: [Worker 0] Worker 0 house 1 episode 44 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:36:02 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/dresser/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 14:36:02 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:36:02 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:36:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:36:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 14:36:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 10.62s (batch: 2.16s, save: 8.45s) [pipeline.py: 300] +05/18 14:36:13 INFO: [Worker 0] [PROFILE] Episode 44 house 1 success=True episode_total=1.10s: + episode_total: mean=47.06s, total=141.18s, count=3, min=2590.1ms, max=135187.7ms + sensor_polling: mean=311.3ms, total=93.38s, count=300, min=289.5ms, max=397.7ms + save_trajectories: mean=8.45s, total=8.45s, count=1, min=8452.8ms, max=8452.8ms + physics_step: mean=18.8ms, total=5.64s, count=300, min=13.6ms, max=26.3ms + save_batch_prep: mean=2.16s, total=2.16s, count=1, min=2162.9ms, max=2162.9ms + task_sampling: mean=365.5ms, total=1.10s, count=3, min=341.8ms, max=383.6ms + task_specific_sample: mean=362.9ms, total=1.09s, count=3, min=339.6ms, max=380.7ms + scene_randomize: mean=1.2ms, total=3.7ms, count=3, min=1.0ms, max=1.7ms + mj_forward_sync: mean=398.0us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.4us, 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 14:36:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:36:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:36:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:36:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:36:15 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:36:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:36:15 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 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.194623m [env.py: 870] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:36:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -48.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -50.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 17.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 89.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.36970043 -1.08071324 -0.19462328] yaw=-20.0deg [env.py: 1019] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.0897708 -1.04616467 -0.19462328] yaw=-47.7deg [env.py: 1019] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:36:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=182.8ms, total=182.8ms [env.py: 1075] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.370, -1.081, -0.195) [env.py: 1079] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -20.0 deg [env.py: 1082] +05/18 14:36:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.872m [env.py: 1086] +05/18 14:36:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:36:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:36:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:36:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:36:15 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 14:36:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/18 14:36:15 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:36:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:36:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:36:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.166s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:36:17 INFO: [Worker 0] Feasible grasp found 83 (originally 83): w/ 0.865[m] 81.254[deg] [grasp_sample.py: 596] +05/18 14:36:18 ERROR: [Worker 0] Worker 0 house 1 episode 45 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:36:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:36:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:36:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:36:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:36:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:36:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:36:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:36:19 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 14:36:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:36:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.115m, effective arm-mount z=0.745m (base_body_z=-0.115m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.114541m [env.py: 870] +05/18 14:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:36:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.81037782 -0.7563279 -0.11454126] yaw=-65.1deg [env.py: 1019] +05/18 14:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -27.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.75492387 -0.83380854 -0.11454126] yaw=-65.6deg [env.py: 1019] +05/18 14:36:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 44.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21880099 -1.3277173 -0.11454126] yaw=-50.6deg [env.py: 1019] +05/18 14:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:36:20 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.0ms, total=116.0ms [env.py: 1075] +05/18 14:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.810, -0.756, -0.115) [env.py: 1079] +05/18 14:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.1 deg [env.py: 1082] +05/18 14:36:20 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.985m [env.py: 1086] +05/18 14:36:20 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:36:20 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:36:20 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:36:20 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:36:20 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/18 14:36:20 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/18 14:36:20 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 14:36:20 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:36:20 INFO: [Worker 0] Collision-checked 512 grasps in 0.087s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:36:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.681s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:36:27 INFO: [Worker 0] Feasible grasp found 205 (originally 205): w/ 0.749[m] 102.140[deg] [grasp_sample.py: 596] +05/18 14:36:27 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:36:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:36:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:36:27 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 14:37:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:37:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:37:24 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 14:37:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:37:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 502 non-colliding grasps [grasp_sample.py: 520] +05/18 14:37:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 7.349s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:37:32 INFO: [Worker 0] Feasible grasp found 119 (originally 119): w/ 0.093[m] 37.835[deg] [grasp_sample.py: 596] +05/18 14:37:33 ERROR: [Worker 0] Worker 0 house 1 episode 46 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:37:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:37:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:37:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:37:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:37:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:37:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:37:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.106m, effective arm-mount z=0.754m (base_body_z=-0.106m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.106411m [env.py: 870] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:37:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -31.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.19563578 -1.36138401 -0.10641128] yaw=-16.4deg [env.py: 1019] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -49.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -38.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 11.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.84723784 -0.88250108 -0.10641128] yaw=-55.9deg [env.py: 1019] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.44248813 -0.85323318 -0.10641128] yaw=-52.4deg [env.py: 1019] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:37:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.2ms, total=181.3ms [env.py: 1075] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.196, -1.361, -0.106) [env.py: 1079] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -16.4 deg [env.py: 1082] +05/18 14:37:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.840m [env.py: 1086] +05/18 14:37:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:37:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:37:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:37:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:37:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:37:34 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 14:37:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/18 14:37:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:37:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:37:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.088s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:37:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.664s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:37:35 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.785[m] 75.728[deg] [grasp_sample.py: 596] +05/18 14:37:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:37:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:37:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:38:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:38:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:38:37 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:39:15 INFO: [Worker 0] Worker 0 house 1 episode 47 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:39:30 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/dresser/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 14:39:30 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:39:30 INFO: [Worker 0] Preparing episode data: 296 timesteps [save_utils.py: 278] +05/18 14:39:41 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:39:41 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 14:39:41 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 10.65s (batch: 2.41s, save: 8.25s) [pipeline.py: 300] +05/18 14:39:41 INFO: [Worker 0] [PROFILE] Episode 47 house 1 success=True episode_total=1.07s: + episode_total: mean=68.01s, total=204.04s, count=3, min=3656.8ms, max=127196.8ms + sensor_polling: mean=314.8ms, total=141.36s, count=449, min=277.7ms, max=450.0ms + physics_step: mean=18.6ms, total=8.36s, count=449, min=13.3ms, max=21.9ms + save_trajectories: mean=8.25s, total=8.25s, count=1, min=8246.2ms, max=8246.2ms + save_batch_prep: mean=2.41s, total=2.41s, count=1, min=2407.6ms, max=2407.6ms + task_sampling: mean=356.9ms, total=1.07s, count=3, min=302.8ms, max=390.0ms + task_specific_sample: mean=354.3ms, total=1.06s, count=3, min=300.2ms, max=387.2ms + scene_randomize: mean=1.3ms, total=3.8ms, count=3, min=1.0ms, max=1.6ms + mj_forward_sync: mean=395.6us, total=1.2ms, count=3, min=0.4ms, max=0.4ms + policy_setup: mean=14.3us, 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 14:39:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:39:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:39:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:39:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:39:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:39:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:39:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:39:42 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:39:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:39:42 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 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198616m [env.py: 870] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:39:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 164.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -146.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -41.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -63.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=172.2ms, total=172.3ms [env.py: 1105] +05/18 14:39:42 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:39:42 ERROR: [Worker 0] Worker 0 house 1 episode 48 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:39:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:39:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:39:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:39:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:39:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:39:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:39:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:39:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:39:44 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 14:39:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:39:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.146m, effective arm-mount z=0.714m (base_body_z=-0.146m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145610m [env.py: 870] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:39:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -105.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -169.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -124.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -93.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.23370204 -0.9314817 -0.14560969] yaw=-26.5deg [env.py: 1019] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:39:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=175.8ms, total=175.8ms [env.py: 1075] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.234, -0.931, -0.146) [env.py: 1079] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.5 deg [env.py: 1082] +05/18 14:39:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.073m [env.py: 1086] +05/18 14:39:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:39:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:39:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:39:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:39:44 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:39:44 INFO: [Worker 0] Worker 0 house 1 episode 49/72 collected=0/12 [pipeline.py: 1044] +05/18 14:39:44 INFO: [Worker 0] Warmed up parallel IK solver in 0.054s [base_object_manipulation_planner_policy.py: 377] +05/18 14:39:44 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 14:39:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:39:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.088s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:39:46 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.076s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:39:46 ERROR: [Worker 0] Worker 0 house 1 episode 49 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:39:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:39:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:39:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:39:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:39:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:39:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:39:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:39:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:39:47 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 14:39:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:39:47 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111749m [env.py: 870] +05/18 14:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:39:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -116.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 13.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -86.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.44926704 -0.80579761 -0.11174884] yaw=-63.4deg [env.py: 1019] +05/18 14:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.73461887 -0.80195634 -0.11174884] yaw=-72.2deg [env.py: 1019] +05/18 14:39:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:39:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.1ms, retries=179.9ms, total=180.0ms [env.py: 1075] +05/18 14:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.449, -0.806, -0.112) [env.py: 1079] +05/18 14:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.4 deg [env.py: 1082] +05/18 14:39:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.052m [env.py: 1086] +05/18 14:39:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:39:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:39:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:39:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:39:48 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/18 14:39:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.037s [base_object_manipulation_planner_policy.py: 377] +05/18 14:39:48 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 14:39:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:39:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.088s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:39:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.073s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:39:50 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:39:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:39:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:39:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:39:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:39:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:39:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:39:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188477m [env.py: 870] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:39:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.42183001 -0.87370491 -0.18847718] yaw=-55.7deg [env.py: 1019] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -112.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 89.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49385606 -0.94782215 -0.18847718] yaw=-46.2deg [env.py: 1019] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:39:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=177.2ms, total=177.2ms [env.py: 1075] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.422, -0.874, -0.188) [env.py: 1079] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.7 deg [env.py: 1082] +05/18 14:39:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.007m [env.py: 1086] +05/18 14:39:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:39:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:39:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:39:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:39:51 INFO: [Worker 0] Worker 0 house 1 episode 51/72 collected=0/12 [pipeline.py: 1044] +05/18 14:39:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 14:39:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:39:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:39:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:40:01 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.340s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:40:01 INFO: [Worker 0] Feasible grasp found 126 (originally 126): w/ 0.743[m] 98.357[deg] [grasp_sample.py: 596] +05/18 14:40:01 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:40:02 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:40:02 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:40:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:40:51 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:40:57 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:41:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:41:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:41:12 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:41:12 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:41:12 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 14:41:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:41:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.116s, found 357 non-colliding grasps [grasp_sample.py: 520] +05/18 14:41:22 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.419s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:41:22 INFO: [Worker 0] Feasible grasp found 282 (originally 282): w/ 0.035[m] 5.457[deg] [grasp_sample.py: 596] +05/18 14:41:23 ERROR: [Worker 0] Worker 0 house 1 episode 51 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:41:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:41:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:41:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:41:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:41:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:41:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133698m [env.py: 870] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:41:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 175.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -96.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.50638895 -1.04734509 -0.13369838] yaw=-50.2deg [env.py: 1019] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -74.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.5929468 -0.70320013 -0.13369838] yaw=-65.7deg [env.py: 1019] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:41:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.7ms, total=176.7ms [env.py: 1075] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.506, -1.047, -0.134) [env.py: 1079] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -50.2 deg [env.py: 1082] +05/18 14:41:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.815m [env.py: 1086] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:41:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:41:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:41:24 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 14:41:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/18 14:41:24 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:41:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:41:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:41:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.976s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:41:25 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.548[m] 78.699[deg] [grasp_sample.py: 596] +05/18 14:41:25 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:41:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:41:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:41:26 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 14:42:05 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:42:12 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:42:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:42:53 INFO: [Worker 0] Worker 0 house 1 episode 52 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:43:06 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/dresser/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 14:43:06 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:43:06 INFO: [Worker 0] Preparing episode data: 246 timesteps [save_utils.py: 278] +05/18 14:43:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:43:15 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 14:43:15 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.41s (batch: 2.42s, save: 7.00s) [pipeline.py: 300] +05/18 14:43:15 INFO: [Worker 0] [PROFILE] Episode 52 house 1 success=True episode_total=1.50s: + episode_total: mean=41.70s, total=208.50s, count=5, min=183.9ms, max=111725.0ms + sensor_polling: mean=311.2ms, total=134.13s, count=431, min=270.6ms, max=446.5ms + physics_step: mean=18.5ms, total=7.97s, count=431, min=13.1ms, max=21.7ms + save_trajectories: mean=7.00s, total=7.00s, count=1, min=6996.4ms, max=6996.4ms + save_batch_prep: mean=2.42s, total=2.42s, count=1, min=2418.4ms, max=2418.4ms + task_specific_sample: mean=333.5ms, total=1.67s, count=5, min=178.2ms, max=377.6ms + task_sampling: mean=374.8ms, total=1.50s, count=4, min=368.1ms, max=380.6ms + task_sampling_failed: mean=183.9ms, total=183.9ms, count=1, min=183.9ms, max=183.9ms + scene_randomize: mean=1.5ms, total=7.3ms, count=5, min=1.0ms, max=2.5ms + mj_forward_sync: mean=398.2us, total=2.0ms, count=5, min=0.4ms, max=0.4ms + policy_setup: mean=14.2us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:43:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:43:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:43:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:43:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:43:17 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:43:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:43:17 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 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.155440m [env.py: 870] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:43:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -94.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -178.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -64.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -168.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -116.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=174.4ms, total=174.4ms [env.py: 1105] +05/18 14:43:17 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:43:17 ERROR: [Worker 0] Worker 0 house 1 episode 53 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:43:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:43:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:43:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:43:18 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:43:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:43:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.181m, effective arm-mount z=0.679m (base_body_z=-0.181m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180616m [env.py: 870] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:43:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.2879426 -1.25222633 -0.18061628] yaw=-44.3deg [env.py: 1019] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 7.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.5613757 -0.83277914 -0.18061628] yaw=-81.0deg [env.py: 1019] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.07911963 -1.39340586 -0.18061628] yaw=-8.7deg [env.py: 1019] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:43:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=116.5ms, total=116.5ms [env.py: 1075] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.288, -1.252, -0.181) [env.py: 1079] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.3 deg [env.py: 1082] +05/18 14:43:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:43:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:43:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:43:18 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/18 14:43:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/18 14:43:18 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 14:43:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:43:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:43:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.511s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:43:20 INFO: [Worker 0] Feasible grasp found 43 (originally 43): w/ 0.519[m] 85.969[deg] [grasp_sample.py: 596] +05/18 14:43:20 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:43:20 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:43:20 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:43:21 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 14:43:53 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:43:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:44:03 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:44:40 INFO: [Worker 0] Worker 0 house 1 episode 54 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:44:52 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/dresser/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 14:44:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:44:52 INFO: [Worker 0] Preparing episode data: 237 timesteps [save_utils.py: 278] +05/18 14:45:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:45:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 14:45:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 8.92s (batch: 2.26s, save: 6.66s) [pipeline.py: 300] +05/18 14:45:01 INFO: [Worker 0] [PROFILE] Episode 54 house 1 success=True episode_total=0.32s: + episode_total: mean=51.78s, total=103.55s, count=2, min=187.6ms, max=103363.2ms + sensor_polling: mean=312.5ms, total=73.76s, count=236, min=293.4ms, max=404.0ms + save_trajectories: mean=6.66s, total=6.66s, count=1, min=6661.3ms, max=6661.3ms + physics_step: mean=19.4ms, total=4.57s, count=236, min=13.5ms, max=22.3ms + save_batch_prep: mean=2.26s, total=2.26s, count=1, min=2257.0ms, max=2257.0ms + task_specific_sample: mean=248.7ms, total=497.5ms, count=2, min=180.0ms, max=317.4ms + task_sampling: mean=319.9ms, total=319.9ms, count=1, min=319.9ms, max=319.9ms + task_sampling_failed: mean=187.6ms, total=187.6ms, count=1, min=187.6ms, max=187.6ms + scene_randomize: mean=1.8ms, total=3.5ms, count=2, min=1.0ms, max=2.5ms + mj_forward_sync: mean=409.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=16.7us, 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 14:45:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:45:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:45:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:45:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:45:03 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 14:45:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:45:03 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.118m, effective arm-mount z=0.742m (base_body_z=-0.118m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.118470m [env.py: 870] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:45:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.76938841 -0.86715082 -0.11846994] yaw=-62.2deg [env.py: 1019] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.09068954 -1.32494552 -0.11846994] yaw=-3.8deg [env.py: 1019] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 52.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -166.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.42303197 -0.97179269 -0.11846994] yaw=-61.7deg [env.py: 1019] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:45:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.1ms, total=123.1ms [env.py: 1075] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.769, -0.867, -0.118) [env.py: 1079] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -62.2 deg [env.py: 1082] +05/18 14:45:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/18 14:45:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:45:03 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/18 14:45:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/18 14:45:03 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 14:45:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:45:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:45:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.096s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:45:04 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.772[m] 66.562[deg] [grasp_sample.py: 596] +05/18 14:45:05 ERROR: [Worker 0] Worker 0 house 1 episode 55 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:45:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:45:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:45:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:45:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:45:06 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 14:45:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:45:06 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 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190583m [env.py: 870] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:45:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1910489 -1.31553908 -0.19058257] yaw=-16.3deg [env.py: 1019] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.33320433 -1.06133327 -0.19058257] yaw=-37.6deg [env.py: 1019] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -44.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -2.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.76620226 -0.76007197 -0.19058257] yaw=-69.2deg [env.py: 1019] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:45:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=118.3ms, total=118.3ms [env.py: 1075] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.191, -1.316, -0.191) [env.py: 1079] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -16.3 deg [env.py: 1082] +05/18 14:45:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.865m [env.py: 1086] +05/18 14:45:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:07 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:45:07 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/18 14:45:07 INFO: [Worker 0] Warmed up parallel IK solver in 0.034s [base_object_manipulation_planner_policy.py: 377] +05/18 14:45:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:45:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:45:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:45:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.026s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:45:12 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.682[m] 101.403[deg] [grasp_sample.py: 596] +05/18 14:45:13 ERROR: [Worker 0] Worker 0 house 1 episode 56 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:45:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:45:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:45:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:45:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:45:14 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 14:45:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:45:14 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 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.163564m [env.py: 870] +05/18 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:45:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 168.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -91.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -98.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 68.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -72.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.57651659 -0.88018469 -0.1635643 ] yaw=-40.1deg [env.py: 1019] +05/18 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:45:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=180.3ms, total=180.3ms [env.py: 1075] +05/18 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.577, -0.880, -0.164) [env.py: 1079] +05/18 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -40.1 deg [env.py: 1082] +05/18 14:45:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/18 14:45:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:45:14 INFO: [Worker 0] Worker 0 house 1 episode 57/72 collected=0/12 [pipeline.py: 1044] +05/18 14:45:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 14:45:14 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 14:45:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:45:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:45:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.187s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:45:17 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.886[m] 38.004[deg] [grasp_sample.py: 596] +05/18 14:45:18 ERROR: [Worker 0] Worker 0 house 1 episode 57 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:45:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:45:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:45:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:45:19 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 14:45:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:45:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103039m [env.py: 870] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:45:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 0.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -2.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -159.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 63.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.26034932 -0.92702549 -0.10303895] yaw=-37.4deg [env.py: 1019] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.2323863 -1.16680275 -0.10303895] yaw=-61.4deg [env.py: 1019] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.48859528 -0.99326167 -0.10303895] yaw=-57.6deg [env.py: 1019] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:45:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=181.6ms, total=181.7ms [env.py: 1075] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -0.927, -0.103) [env.py: 1079] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.4 deg [env.py: 1082] +05/18 14:45:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.059m [env.py: 1086] +05/18 14:45:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:45:19 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/18 14:45:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 14:45:19 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 14:45:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:45:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.089s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:45:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.028s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:45:21 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:45:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:45:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:45:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:45:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:45:22 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 14:45:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:45:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.103m, effective arm-mount z=0.757m (base_body_z=-0.103m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103074m [env.py: 870] +05/18 14:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:45:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:45:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -14.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -53.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -42.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.02725909 -1.30955302 -0.10307438] yaw=-44.7deg [env.py: 1019] +05/18 14:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.34615101 -0.93353981 -0.10307438] yaw=-46.5deg [env.py: 1019] +05/18 14:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.59221357 -0.83872536 -0.10307438] yaw=-61.7deg [env.py: 1019] +05/18 14:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:45:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=179.5ms, total=179.6ms [env.py: 1075] +05/18 14:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.027, -1.310, -0.103) [env.py: 1079] +05/18 14:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -44.7 deg [env.py: 1082] +05/18 14:45:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.014m [env.py: 1086] +05/18 14:45:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:45:23 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/18 14:45:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 14:45:23 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 14:45:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:45:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:45:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.065s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:45:25 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:45:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:45:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:45:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:45:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:45:26 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 14:45:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:45:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.128m, effective arm-mount z=0.732m (base_body_z=-0.128m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.128162m [env.py: 870] +05/18 14:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:45:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 87.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -19.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -9.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -55.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -50.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=172.3ms, total=172.3ms [env.py: 1105] +05/18 14:45:26 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:45:26 ERROR: [Worker 0] Worker 0 house 1 episode 60 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:45:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:45:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:45:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:45:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:45:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:45:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:45:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101200m [env.py: 870] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:45:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -20.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.17726386 -1.42379628 -0.10120027] yaw=-35.4deg [env.py: 1019] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -113.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.15686072 -1.31846447 -0.10120027] yaw=-14.8deg [env.py: 1019] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:45:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=176.3ms, total=176.3ms [env.py: 1075] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.177, -1.424, -0.101) [env.py: 1079] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.4 deg [env.py: 1082] +05/18 14:45:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/18 14:45:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:45:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:45:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:45:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:45:28 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/18 14:45:28 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 14:45:28 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 14:45:28 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:45:28 INFO: [Worker 0] Collision-checked 512 grasps in 0.090s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:45:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.950s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:45:35 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.694[m] 58.429[deg] [grasp_sample.py: 596] +05/18 14:45:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:45:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:45:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:46:20 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:46:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:46:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:46:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:46:49 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:46:49 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:46:49 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 14:46:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:46:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.174s, found 73 non-colliding grasps [grasp_sample.py: 520] +05/18 14:46:51 INFO: [Worker 0] Feasibility-checked 73 grasps in 2.108s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:46:51 INFO: [Worker 0] Feasible grasp found 123 (originally 123): w/ 0.035[m] 2.047[deg] [grasp_sample.py: 596] +05/18 14:46:51 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:46:51 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:46:51 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:46:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:47:01 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:47:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:47:16 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:47:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:47:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:47:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:47:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.130s, found 277 non-colliding grasps [grasp_sample.py: 520] +05/18 14:47:18 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.102s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:47:18 INFO: [Worker 0] Feasible grasp found 249 (originally 249): w/ 0.033[m] 1.215[deg] [grasp_sample.py: 596] +05/18 14:47:19 ERROR: [Worker 0] Worker 0 house 1 episode 61 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:47:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:47:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:47:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:47:21 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 14:47:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:47:21 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.105m, effective arm-mount z=0.755m (base_body_z=-0.105m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.104976m [env.py: 870] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:47:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.22937989 -1.19313207 -0.10497639] yaw=-53.4deg [env.py: 1019] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.65257255 -0.75817893 -0.10497639] yaw=-98.9deg [env.py: 1019] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 18.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -62.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.49514167 -1.02772763 -0.10497639] yaw=-59.9deg [env.py: 1019] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:47:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.1ms, total=101.2ms [env.py: 1075] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.229, -1.193, -0.105) [env.py: 1079] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -53.4 deg [env.py: 1082] +05/18 14:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.899m [env.py: 1086] +05/18 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:47:21 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/18 14:47:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.039s [base_object_manipulation_planner_policy.py: 377] +05/18 14:47:21 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:47:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:47:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.101s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:47:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.482s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:47:23 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.580[m] 87.754[deg] [grasp_sample.py: 596] +05/18 14:47:24 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:47:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:47:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:47:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:47:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:47:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:47:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:47:25 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 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.100175m [env.py: 870] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:47:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 78.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.13504467 -1.12305784 -0.10017471] yaw=-38.2deg [env.py: 1019] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -112.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 2.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.35053917 -1.0712028 -0.10017471] yaw=-63.3deg [env.py: 1019] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.42257324 -1.05956236 -0.10017471] yaw=-37.9deg [env.py: 1019] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:47:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=182.2ms, total=182.3ms [env.py: 1075] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.135, -1.123, -0.100) [env.py: 1079] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.2 deg [env.py: 1082] +05/18 14:47:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.017m [env.py: 1086] +05/18 14:47:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:47:25 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/18 14:47:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 14:47:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:47:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:47:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.088s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:47:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.786s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:47:27 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:47:28 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:47:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:47:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:47:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:47:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:47:28 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.188m, effective arm-mount z=0.672m (base_body_z=-0.188m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187582m [env.py: 870] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:47:28 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -69.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 83.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -63.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.62520347 -0.96498225 -0.18758184] yaw=-66.2deg [env.py: 1019] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:47:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=171.1ms, total=171.1ms [env.py: 1075] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.625, -0.965, -0.188) [env.py: 1079] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -66.2 deg [env.py: 1082] +05/18 14:47:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.832m [env.py: 1086] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:47:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:47:29 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:47:29 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/18 14:47:29 INFO: [Worker 0] Warmed up parallel IK solver in 0.033s [base_object_manipulation_planner_policy.py: 377] +05/18 14:47:29 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:47:29 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:47:29 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:47:29 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.687s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:47:29 INFO: [Worker 0] Feasible grasp found 15 (originally 15): w/ 0.829[m] 75.899[deg] [grasp_sample.py: 596] +05/18 14:47:29 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:47:30 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:47:30 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:47:30 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 14:47:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:47:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:48:31 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:48:38 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:48:41 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:49:17 INFO: [Worker 0] Worker 0 house 1 episode 64 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:49:32 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/dresser/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 14:49:32 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:49:32 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:49:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:49:42 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 14:49:42 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 10.44s (batch: 2.39s, save: 8.06s) [pipeline.py: 300] +05/18 14:49:43 INFO: [Worker 0] [PROFILE] Episode 64 house 1 success=True episode_total=3.14s: + episode_total: mean=26.94s, total=269.44s, count=10, min=180.9ms, max=134383.8ms + sensor_polling: mean=309.1ms, total=176.50s, count=571, min=281.8ms, max=435.5ms + physics_step: mean=18.7ms, total=10.66s, count=571, min=13.2ms, max=24.7ms + save_trajectories: mean=8.06s, total=8.06s, count=1, min=8057.7ms, max=8057.7ms + task_specific_sample: mean=329.6ms, total=3.30s, count=10, min=176.8ms, max=376.2ms + task_sampling: mean=349.2ms, total=3.14s, count=9, min=293.7ms, max=379.4ms + save_batch_prep: mean=2.39s, total=2.39s, count=1, min=2386.7ms, max=2386.7ms + task_sampling_failed: mean=180.9ms, total=180.9ms, count=1, min=180.9ms, max=180.9ms + scene_randomize: mean=1.2ms, total=12.0ms, count=10, min=1.0ms, max=2.7ms + mj_forward_sync: mean=397.6us, total=4.0ms, count=10, min=0.4ms, max=0.4ms + policy_setup: mean=13.3us, total=0.1ms, count=9, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=10, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:49:44 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:49:44 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:49:44 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:49:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:49:44 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:49:44 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 14:49:44 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:49:44 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.101m, effective arm-mount z=0.759m (base_body_z=-0.101m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101233m [env.py: 870] +05/18 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:49:44 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -56.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -65.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 31.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:44 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -32.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:44 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=171.5ms, total=171.5ms [env.py: 1105] +05/18 14:49:44 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:49:44 ERROR: [Worker 0] Worker 0 house 1 episode 65 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:49:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:49:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:49:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:49:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:49:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:49:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:49:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.102m, effective arm-mount z=0.758m (base_body_z=-0.102m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102226m [env.py: 870] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:49:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -147.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.40112668 -0.92839118 -0.10222613] yaw=-57.6deg [env.py: 1019] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -31.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -4.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.83057021 -0.78614217 -0.10222613] yaw=-57.4deg [env.py: 1019] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.23118656 -1.04810354 -0.10222613] yaw=-56.9deg [env.py: 1019] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:49:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=143.2ms, total=143.3ms [env.py: 1075] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.401, -0.928, -0.102) [env.py: 1079] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.6 deg [env.py: 1082] +05/18 14:49:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/18 14:49:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:49:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:49:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:49:46 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:49:46 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/18 14:49:46 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/18 14:49:46 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:49:46 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:49:46 INFO: [Worker 0] Collision-checked 512 grasps in 0.087s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:49:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.865s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:49:53 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.787[m] 107.408[deg] [grasp_sample.py: 596] +05/18 14:49:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:49:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:49:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:49:53 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 14:50:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:50:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:50:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:51:29 INFO: [Worker 0] Worker 0 house 1 episode 66 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:51:42 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/dresser/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 14:51:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:51:42 INFO: [Worker 0] Preparing episode data: 289 timesteps [save_utils.py: 278] +05/18 14:51:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:51:53 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 14:51:53 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 10.15s (batch: 2.33s, save: 7.82s) [pipeline.py: 300] +05/18 14:51:53 INFO: [Worker 0] [PROFILE] Episode 66 house 1 success=True episode_total=0.35s: + episode_total: mean=63.98s, total=127.96s, count=2, min=184.7ms, max=127779.9ms + sensor_polling: mean=307.5ms, total=88.55s, count=288, min=286.0ms, max=405.3ms + save_trajectories: mean=7.82s, total=7.82s, count=1, min=7817.0ms, max=7817.0ms + physics_step: mean=18.3ms, total=5.27s, count=288, min=13.7ms, max=25.2ms + save_batch_prep: mean=2.33s, total=2.33s, count=1, min=2331.7ms, max=2331.7ms + task_specific_sample: mean=259.5ms, total=519.0ms, count=2, min=176.6ms, max=342.4ms + task_sampling: mean=345.2ms, total=345.2ms, count=1, min=345.2ms, max=345.2ms + task_sampling_failed: mean=184.6ms, total=184.6ms, count=1, min=184.6ms, max=184.6ms + scene_randomize: mean=1.5ms, total=3.0ms, count=2, min=1.3ms, max=1.7ms + mj_forward_sync: mean=393.0us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=15.6us, 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 14:51:54 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:51:54 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:51:54 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:51:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:51:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:51:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:51:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:51:54 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:51:54 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:51:54 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:51:54 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.174m, effective arm-mount z=0.686m (base_body_z=-0.174m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.174362m [env.py: 870] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:51:54 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 60.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 10.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.16854097 -1.20523702 -0.17436189] yaw=-55.1deg [env.py: 1019] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -152.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.69065988 -0.69117262 -0.17436189] yaw=-97.5deg [env.py: 1019] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:51:54 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.0ms, total=174.0ms [env.py: 1075] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.169, -1.205, -0.174) [env.py: 1079] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.1 deg [env.py: 1082] +05/18 14:51:54 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.942m [env.py: 1086] +05/18 14:51:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:51:54 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:51:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:51:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:51:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:51:55 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/18 14:51:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/18 14:51:55 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 14:51:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:51:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.087s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:51:59 INFO: [Worker 0] Feasibility-checked 256 grasps in 3.893s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:51:59 INFO: [Worker 0] Feasible grasp found 91 (originally 91): w/ 0.711[m] 80.559[deg] [grasp_sample.py: 596] +05/18 14:52:00 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:52:01 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:52:01 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:52:01 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:52:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:01 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:52:01 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:52:01 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:52:01 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.149m, effective arm-mount z=0.711m (base_body_z=-0.149m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149244m [env.py: 870] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:52:01 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -140.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.27689374 -1.24723016 -0.14924378] yaw=-27.9deg [env.py: 1019] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -67.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -119.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.8689719 -0.86414104 -0.14924378] yaw=-92.3deg [env.py: 1019] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:52:01 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=174.3ms, total=174.3ms [env.py: 1075] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.277, -1.247, -0.149) [env.py: 1079] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.9 deg [env.py: 1082] +05/18 14:52:01 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.829m [env.py: 1086] +05/18 14:52:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:52:01 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:52:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:52:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:52:01 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:52:01 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/18 14:52:01 INFO: [Worker 0] Warmed up parallel IK solver in 0.036s [base_object_manipulation_planner_policy.py: 377] +05/18 14:52:01 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 14:52:01 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:52:01 INFO: [Worker 0] Collision-checked 512 grasps in 0.098s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:52:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.417s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:52:04 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.587[m] 97.338[deg] [grasp_sample.py: 596] +05/18 14:52:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:52:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:52:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:52:04 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:52:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:52:49 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:52:52 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:53:28 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:53:41 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/dresser/sim_chunks/chunk_030 [pipeline.py: 1174] +05/18 14:53:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_030 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:53:41 INFO: [Worker 0] Preparing episode data: 258 timesteps [save_utils.py: 278] +05/18 14:53:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:53:50 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_030 [save_utils.py: 785] +05/18 14:53:50 INFO: [Worker 0] Successfully saved trajectory data for chunk_030 in 9.23s (batch: 2.22s, save: 7.01s) [pipeline.py: 300] +05/18 14:53:50 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=0.74s: + episode_total: mean=57.52s, total=115.04s, count=2, min=5431.4ms, max=109607.0ms + sensor_polling: mean=304.8ms, total=78.32s, count=257, min=282.9ms, max=406.0ms + save_trajectories: mean=7.01s, total=7.01s, count=1, min=7005.8ms, max=7005.8ms + physics_step: mean=18.0ms, total=4.63s, count=257, min=13.0ms, max=24.0ms + save_batch_prep: mean=2.22s, total=2.22s, count=1, min=2224.8ms, max=2224.8ms + task_sampling: mean=368.1ms, total=736.1ms, count=2, min=360.0ms, max=376.1ms + task_specific_sample: mean=365.5ms, total=730.9ms, count=2, min=357.6ms, max=373.4ms + scene_randomize: mean=1.3ms, total=2.7ms, count=2, min=1.0ms, max=1.7ms + mj_forward_sync: mean=381.6us, total=0.8ms, count=2, min=0.4ms, max=0.4ms + policy_setup: mean=14.4us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:53:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:53:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:53:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:53:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:53:51 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:53:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:53:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.136m, effective arm-mount z=0.724m (base_body_z=-0.136m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135667m [env.py: 870] +05/18 14:53:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:53:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 29.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 61.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.74762217 -0.84213808 -0.13566685] yaw=-88.2deg [env.py: 1019] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 161.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -139.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:53:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=174.4ms, total=174.4ms [env.py: 1075] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.748, -0.842, -0.136) [env.py: 1079] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -88.2 deg [env.py: 1082] +05/18 14:53:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.912m [env.py: 1086] +05/18 14:53:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:53:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:53:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:53:52 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:53:52 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/18 14:53:52 INFO: [Worker 0] Warmed up parallel IK solver in 0.053s [base_object_manipulation_planner_policy.py: 377] +05/18 14:53:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:53:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:53:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.093s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:53:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.111s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:53:53 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.549[m] 101.482[deg] [grasp_sample.py: 596] +05/18 14:53:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:53:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:53:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:53:54 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 14:54:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:54:31 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:54:31 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:54:31 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 14:54:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:54:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.086s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:54:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.003s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:54:36 INFO: [Worker 0] Feasible grasp found 535 (originally 228): w/ 0.215[m] 34.138[deg] [grasp_sample.py: 596] +05/18 14:54:37 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:54:38 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:54:38 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:54:38 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:54:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:54:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:54:38 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:54:38 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 14:54:38 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:54:38 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.139m, effective arm-mount z=0.721m (base_body_z=-0.139m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.138751m [env.py: 870] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:54:38 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -133.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 20.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 39.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.45806132 -1.02929066 -0.13875122] yaw=-35.1deg [env.py: 1019] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:54:38 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=169.7ms, total=169.7ms [env.py: 1075] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.458, -1.029, -0.139) [env.py: 1079] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.1 deg [env.py: 1082] +05/18 14:54:38 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.857m [env.py: 1086] +05/18 14:54:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:54:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:54:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:54:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:54:38 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/18 14:54:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.032s [base_object_manipulation_planner_policy.py: 377] +05/18 14:54:38 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 14:54:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:54:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.086s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:54:39 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.903s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:54:39 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.540[m] 93.244[deg] [grasp_sample.py: 596] +05/18 14:54:40 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:54:41 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:54:41 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:54:41 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:54:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:54:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:54:41 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:54:41 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:54:41 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:54:41 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 14:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.129853m [env.py: 870] +05/18 14:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:54:41 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -101.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 59.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -62.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.07218831 -1.32791101 -0.12985344] yaw=6.1deg [env.py: 1019] +05/18 14:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:54:41 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=168.2ms, total=168.3ms [env.py: 1075] +05/18 14:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.072, -1.328, -0.130) [env.py: 1079] +05/18 14:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: 6.1 deg [env.py: 1082] +05/18 14:54:41 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.099m [env.py: 1086] +05/18 14:54:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:54:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:54:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:54:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:54:42 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/18 14:54:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.035s [base_object_manipulation_planner_policy.py: 377] +05/18 14:54:42 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:54:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:54:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.085s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:54:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.041s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:54:44 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:54:45 WARNING: [Worker 0] No trajectory data to save for chunk_030 [pipeline.py: 234] +05/18 14:54:45 WARNING: [Worker 0] No trajectory data to save for chunk_030 [pipeline.py: 234] +05/18 14:54:45 INFO: [Worker 0] Worker 0 completed house 1: 14/15 successful episodes [pipeline.py: 1323] +05/18 14:54:45 INFO: [Worker 0] [PROFILE] House 1 complete: 14/15 successful, 15 episodes, total_time=4279.00s + House averages: + episode_total: mean=34.38s, total=2475.63s, count=72, min=177.1ms, max=156240.5ms + sensor_polling: mean=312.7ms, total=1516.67s, count=4850, min=269.3ms, max=450.0ms + save_trajectories: mean=7.67s, total=107.43s, count=14, min=6661.3ms, max=8705.4ms + physics_step: mean=18.7ms, total=90.69s, count=4850, min=11.9ms, max=29.7ms + save_batch_prep: mean=2.32s, total=32.54s, count=14, min=2162.9ms, max=2433.1ms + task_sampling: mean=395.2ms, total=24.50s, count=62, min=275.3ms, max=2858.0ms + task_specific_sample: mean=328.6ms, total=23.66s, count=72, min=173.3ms, max=401.9ms + scene_load: mean=2.45s, total=2.45s, count=1, min=2453.4ms, max=2453.4ms + task_sampling_failed: mean=181.8ms, total=1.82s, count=10, min=177.0ms, max=187.6ms + scene_env_create: mean=1.36s, total=1.36s, count=1, min=1364.9ms, max=1364.9ms + scene_compile: mean=915.0ms, total=915.0ms, count=1, min=915.0ms, max=915.0ms + compile_mujoco: mean=658.8ms, total=658.8ms, count=1, min=658.8ms, max=658.8ms + compile_xml_load: mean=196.7ms, total=196.7ms, count=1, min=196.7ms, max=196.7ms + scene_randomize: mean=1.3ms, total=92.6ms, count=72, min=0.9ms, max=2.7ms + scene_init: mean=88.1ms, total=88.1ms, count=1, min=88.1ms, max=88.1ms + scene_asset_install: mean=85.2ms, total=85.2ms, count=1, min=85.2ms, max=85.2ms + asset_install_grasps: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms + compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms + compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms + mj_forward_sync: mean=399.8us, total=28.8ms, count=72, min=0.3ms, max=0.4ms + asset_install_objects: mean=21.1ms, total=21.1ms, count=1, min=21.1ms, max=21.1ms + asset_install_scene: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + compile_robot_add: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms + policy_setup: mean=14.5us, total=0.9ms, count=62, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/18 14:54:45 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/18 14:54:45 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 15 episodes, total_time=4279.00s + Worker averages: + episode_total: mean=34.38s, total=2475.63s, count=72, min=177.1ms, max=156240.5ms + sensor_polling: mean=312.7ms, total=1516.67s, count=4850, min=269.3ms, max=450.0ms + save_trajectories: mean=7.67s, total=107.43s, count=14, min=6661.3ms, max=8705.4ms + physics_step: mean=18.7ms, total=90.69s, count=4850, min=11.9ms, max=29.7ms + save_batch_prep: mean=2.32s, total=32.54s, count=14, min=2162.9ms, max=2433.1ms + task_sampling: mean=395.2ms, total=24.50s, count=62, min=275.3ms, max=2858.0ms + task_specific_sample: mean=328.6ms, total=23.66s, count=72, min=173.3ms, max=401.9ms + scene_load: mean=2.45s, total=2.45s, count=1, min=2453.4ms, max=2453.4ms + task_sampling_failed: mean=181.8ms, total=1.82s, count=10, min=177.0ms, max=187.6ms + scene_env_create: mean=1.36s, total=1.36s, count=1, min=1364.9ms, max=1364.9ms + scene_compile: mean=915.0ms, total=915.0ms, count=1, min=915.0ms, max=915.0ms + compile_mujoco: mean=658.8ms, total=658.8ms, count=1, min=658.8ms, max=658.8ms + compile_xml_load: mean=196.7ms, total=196.7ms, count=1, min=196.7ms, max=196.7ms + scene_randomize: mean=1.3ms, total=92.6ms, count=72, min=0.9ms, max=2.7ms + scene_init: mean=88.1ms, total=88.1ms, count=1, min=88.1ms, max=88.1ms + scene_asset_install: mean=85.2ms, total=85.2ms, count=1, min=85.2ms, max=85.2ms + asset_install_grasps: mean=54.2ms, total=54.2ms, count=1, min=54.2ms, max=54.2ms + compile_aux_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms + compile_aux_policy_objects: mean=46.2ms, total=46.2ms, count=1, min=46.2ms, max=46.2ms + mj_forward_sync: mean=399.8us, total=28.8ms, count=72, min=0.3ms, max=0.4ms + asset_install_objects: mean=21.1ms, total=21.1ms, count=1, min=21.1ms, max=21.1ms + asset_install_scene: mean=9.9ms, total=9.9ms, count=1, min=9.9ms, max=9.9ms + compile_robot_add: mean=5.5ms, total=5.5ms, count=1, min=5.5ms, max=5.5ms + policy_setup: mean=14.5us, total=0.9ms, count=62, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/18 14:54:47 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/18 14:54:47 INFO: Success count: 14, Total count: 15 [pipeline.py: 1491] +05/18 14:54:47 INFO: Success rate: 93.33% [pipeline.py: 1492] diff --git a/dresser/sim/chunk_030/trajectories_batch_1_of_1_cam_rand.h5 b/dresser/sim/chunk_030/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8189bb97263e9b6fcb69ad1ebdf9defea50d046c --- /dev/null +++ b/dresser/sim/chunk_030/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6417af9fe32b6f00cc9ebeb5622067a030d58cd8cc02d42957fd1da2cc474df +size 970716744