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'fixed_object_instance_index': [0], + 'house_inds': [1], + 'load_robot_from_file': True, + 'max_added_pickup_placement_attempts': 100, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 100, + 'max_allowed_sequential_task_sampler_failures': 100, + 'max_asset_failures': 10, + 'max_object_placement_attempts': 200, + 'max_receptacle_attempts': 10, + 'max_reference_to_added_pickup_dist': 0.5, + 'max_robot_placement_attempts': 10, + 'max_robot_to_added_pickup_dist': 0.7, + 'max_robot_to_obj_dist': 0.6, + 'max_robot_to_target_dist': 0.6, + 'max_tasks': inf, + 'max_total_attempts_multiplier': 6, + 'min_object_separation': 0.05, + 'min_reference_to_added_pickup_dist': 0.15, + 'num_added_pickups': 30, + 'objaverse_oversampling_factor': 30, + 'object_placement_radius_range': (0.1, 0.8), + 'pickup_obj_name': None, + 'pickup_types': ['drawer'], + 'place_target_name': None, + 'placement_robot_height': 1.4, + 'placement_volume_name': None, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'receptacle_name': None, + 'receptacle_types': ('ArmChair', + 'Bed', + 'Chair', + 'CoffeeTable', + 'CounterTop', + 'Desk', + 'DiningTable', + 'Dresser', + 'Shelf', + 'SideTable', + 'Sofa', + 'Stool', + 'TVStand'), + 'robot_object_z_offset': -1.0, + 'robot_object_z_offset_random_max': 0, + 'robot_object_z_offset_random_min': 0, + 'robot_placement_exclusion_threshold': 0.0, + 'robot_placement_radius_range': (0.3, 0.8), + 'robot_placement_rotation_range_rad': 0.5, + 'robot_safety_radius': 0.15, + 'samples_per_house': 12, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'target_initial_state_open_percentage': 0.0, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'open', + 'total_batches': 1, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_viser': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'viewer_camera': None, + 'viser_port': 8080, + 'wandb_name': None, + 'wandb_project': 'molmo-spaces-data-generation'} [pipeline.py: 1367] +05/18 13:42:25 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/18 13:42:25 INFO: [Worker 0] [probe] task_type=open configured_class=OpenTaskSampler instantiated=OpenTaskSampler [pipeline.py: 437] +05/18 13:42:25 INFO: [Worker 0] Worker 0 starting house 1 (index 0/1) [pipeline.py: 464] +05/18 13:42:25 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/18 13:42:28 INFO: [Worker 0] Scene updated: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/FloorPlan1_physics.xml [task_sampler.py: 797] +05/18 13:42:28 INFO: [Worker 0] Setting up scene for house 1, task None... [pick_task_sampler.py: 197] +05/18 13:42:28 INFO: [Worker 0] Found 3 candidate pickup objects in the scene [pick_task_sampler.py: 842] +05/18 13:42:28 INFO: [Worker 0] Filtered to 3 valid candidate pickup objects, 100.0 % [pick_task_sampler.py: 947] +05/18 13:42:28 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:42:28 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:28 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:42:28 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:42:28 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:42:28 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 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176634m [env.py: 870] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:42:28 INFO: [Worker 0] [HEIGHT_AWARE_THORMAP] Building map (robot_height=1.4, agent_radius=0.15, px_per_m=100) [env.py: 780] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.62432343 -0.77938783 -0.1766338 ] yaw=-65.9deg [env.py: 1019] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 34.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 176.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.67938981 -0.9585008 -0.1766338 ] yaw=-50.5deg [env.py: 1019] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -55.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.57505258 -0.83881507 -0.1766338 ] yaw=-95.5deg [env.py: 1019] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:42:28 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=11.6ms, retries=133.2ms, total=144.9ms [env.py: 1075] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.624, -0.779, -0.177) [env.py: 1079] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -65.9 deg [env.py: 1082] +05/18 13:42:28 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.006m [env.py: 1086] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:42:28 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:42:28 INFO: [Worker 0] Worker 0 house 1 episode 0/72 collected=0/12 [pipeline.py: 1044] +05/18 13:42:52 INFO: [Worker 0] Warmed up parallel IK solver in 23.735s [base_object_manipulation_planner_policy.py: 377] +05/18 13:42:52 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:42:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:42:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:42:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.189s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:42:54 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.733[m] 119.517[deg] [grasp_sample.py: 596] +05/18 13:42:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:42:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:42:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:42:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:43:27 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:43:31 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:43:33 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:43:57 INFO: [Worker 0] Worker 0 house 1 episode 0 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:44:10 INFO: [Worker 0] Saved videos eagerly for episode 0 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 13:44:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:44:10 INFO: [Worker 0] Preparing episode data: 297 timesteps [save_utils.py: 278] +05/18 13:44:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:44:20 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 13:44:20 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 9.23s (batch: 2.64s, save: 6.59s) [pipeline.py: 300] +05/18 13:44:20 INFO: [Worker 0] [PROFILE] Episode 0 house 1 success=True episode_total=3.93s: + episode_total: mean=115.53s, total=115.53s, count=1, min=115529.0ms, max=115529.0ms + sensor_polling: mean=192.8ms, total=57.08s, count=296, min=169.9ms, max=333.6ms + save_trajectories: mean=6.59s, total=6.59s, count=1, min=6586.8ms, max=6586.8ms + task_sampling: mean=3.93s, total=3.93s, count=1, min=3931.7ms, max=3931.7ms + physics_step: mean=13.2ms, total=3.92s, count=296, min=10.7ms, max=15.3ms + scene_load: mean=3.59s, total=3.59s, count=1, min=3592.4ms, max=3592.4ms + save_batch_prep: mean=2.64s, total=2.64s, count=1, min=2643.4ms, max=2643.4ms + scene_env_create: mean=2.16s, total=2.16s, count=1, min=2160.5ms, max=2160.5ms + scene_compile: mean=879.4ms, total=879.4ms, count=1, min=879.4ms, max=879.4ms + compile_mujoco: mean=619.6ms, total=619.6ms, count=1, min=619.6ms, max=619.6ms + scene_asset_install: mean=482.6ms, total=482.6ms, count=1, min=482.6ms, max=482.6ms + asset_install_objects: mean=422.4ms, total=422.4ms, count=1, min=422.4ms, max=422.4ms + task_specific_sample: mean=336.9ms, total=336.9ms, count=1, min=336.9ms, max=336.9ms + compile_xml_load: mean=206.8ms, total=206.8ms, count=1, min=206.8ms, max=206.8ms + scene_init: mean=69.6ms, total=69.6ms, count=1, min=69.6ms, max=69.6ms + asset_install_grasps: mean=56.7ms, total=56.7ms, count=1, min=56.7ms, max=56.7ms + compile_aux_objects: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms + compile_aux_policy_objects: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms + compile_robot_add: mean=5.1ms, total=5.1ms, count=1, min=5.1ms, max=5.1ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + scene_randomize: mean=872.9us, total=0.9ms, count=1, min=0.9ms, max=0.9ms + mj_forward_sync: mean=301.4us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=37.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:44:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:44:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:44:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:44:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:44:21 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 13:44:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:44:21 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 13:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.126808m [env.py: 870] +05/18 13:44:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:44:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -3.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 79.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -149.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.8410707 -0.6747764 -0.12680813] yaw=-81.2deg [env.py: 1019] +05/18 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.24655021 -1.28677703 -0.12680813] yaw=-38.7deg [env.py: 1019] +05/18 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.87371354 -0.82395153 -0.12680813] yaw=-92.4deg [env.py: 1019] +05/18 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:44:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.9ms, total=151.9ms [env.py: 1075] +05/18 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.841, -0.675, -0.127) [env.py: 1079] +05/18 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -81.2 deg [env.py: 1082] +05/18 13:44:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.062m [env.py: 1086] +05/18 13:44:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:44:22 INFO: [Worker 0] Worker 0 house 1 episode 1/72 collected=0/12 [pipeline.py: 1044] +05/18 13:44:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 13:44:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:44:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:44:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:44:24 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.885s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:44:24 ERROR: [Worker 0] Worker 0 house 1 episode 1 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:44:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:44:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:44:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:44:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:44:25 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:44:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:44:25 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 13:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.130179m [env.py: 870] +05/18 13:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:44:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.70873698 -0.74166049 -0.13017856] yaw=-83.8deg [env.py: 1019] +05/18 13:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 67.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -173.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:44:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=144.0ms, total=144.0ms [env.py: 1075] +05/18 13:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.709, -0.742, -0.130) [env.py: 1079] +05/18 13:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -83.8 deg [env.py: 1082] +05/18 13:44:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/18 13:44:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:44:26 INFO: [Worker 0] Worker 0 house 1 episode 2/72 collected=0/12 [pipeline.py: 1044] +05/18 13:44:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 13:44:26 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:44:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:44:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:44:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.470s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:44:28 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.774[m] 118.399[deg] [grasp_sample.py: 596] +05/18 13:44:29 ERROR: [Worker 0] Worker 0 house 1 episode 2 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:44:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:44:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:44:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:44:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:44:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:44:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.142m, effective arm-mount z=0.718m (base_body_z=-0.142m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.142165m [env.py: 870] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:44:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -6.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -97.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -8.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[-0.01957917 -1.22913371 -0.14216542] yaw=-49.4deg [env.py: 1019] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 78.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.19671375 -1.24097768 -0.14216542] yaw=-43.5deg [env.py: 1019] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:44:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=146.2ms, total=146.2ms [env.py: 1075] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.020, -1.229, -0.142) [env.py: 1079] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -49.4 deg [env.py: 1082] +05/18 13:44:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.092m [env.py: 1086] +05/18 13:44:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:44:31 INFO: [Worker 0] Worker 0 house 1 episode 3/72 collected=0/12 [pipeline.py: 1044] +05/18 13:44:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 13:44:31 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:44:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:44:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:44:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.834s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:44:33 ERROR: [Worker 0] Worker 0 house 1 episode 3 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:44:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:44:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:44:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:44:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:44:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:44:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:44:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.154m, effective arm-mount z=0.706m (base_body_z=-0.154m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154426m [env.py: 870] +05/18 13:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:44:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 55.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -131.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 170.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.25989266 -1.24500935 -0.15442646] yaw=-61.1deg [env.py: 1019] +05/18 13:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:44:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=144.5ms, total=144.5ms [env.py: 1075] +05/18 13:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.260, -1.245, -0.154) [env.py: 1079] +05/18 13:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.1 deg [env.py: 1082] +05/18 13:44:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.844m [env.py: 1086] +05/18 13:44:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:44:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:44:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:44:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:44:34 INFO: [Worker 0] Worker 0 house 1 episode 4/72 collected=0/12 [pipeline.py: 1044] +05/18 13:44:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 13:44:34 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:44:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:44:34 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:44:36 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.465s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:44:36 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.550[m] 65.547[deg] [grasp_sample.py: 596] +05/18 13:44:36 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:44:36 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:44:36 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:44:36 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:44:58 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:02 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:45:04 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:19 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 13:45:19 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:45:19 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 13:45:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:45:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 93 non-colliding grasps [grasp_sample.py: 520] +05/18 13:45:19 INFO: [Worker 0] Feasibility-checked 93 grasps in 0.367s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:45:19 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.037[m] 4.414[deg] [grasp_sample.py: 596] +05/18 13:45:19 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:45:19 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:45:19 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:21 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:25 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:45:27 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:45:38 INFO: [Worker 0] Worker 0 house 1 episode 4 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:45:51 INFO: [Worker 0] Saved videos eagerly for episode 1 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 13:45:51 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:45:51 INFO: [Worker 0] Preparing episode data: 288 timesteps [save_utils.py: 278] +05/18 13:46:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:46:00 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 13:46:00 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 8.96s (batch: 2.63s, save: 6.32s) [pipeline.py: 300] +05/18 13:46:00 INFO: [Worker 0] [PROFILE] Episode 4 house 1 success=True episode_total=1.28s: + episode_total: mean=23.65s, total=94.61s, count=4, min=2257.7ms, max=86349.6ms + sensor_polling: mean=196.7ms, total=56.46s, count=287, min=184.7ms, max=358.5ms + save_trajectories: mean=6.32s, total=6.32s, count=1, min=6320.4ms, max=6320.4ms + physics_step: mean=13.9ms, total=3.99s, count=287, min=10.9ms, max=28.3ms + save_batch_prep: mean=2.63s, total=2.63s, count=1, min=2635.0ms, max=2635.0ms + task_sampling: mean=319.1ms, total=1.28s, count=4, min=313.5ms, max=333.5ms + task_specific_sample: mean=316.9ms, total=1.27s, count=4, min=311.3ms, max=330.9ms + scene_randomize: mean=1.0ms, total=4.1ms, count=4, min=0.8ms, max=1.6ms + mj_forward_sync: mean=320.5us, total=1.3ms, count=4, min=0.3ms, max=0.3ms + policy_setup: mean=15.8us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:46:02 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:02 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:02 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:02 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:02 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:46:02 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:02 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 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.127102m [env.py: 870] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:02 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 161.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.46852865 -1.05713158 -0.12710231] yaw=-75.1deg [env.py: 1019] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -135.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.72244881 -0.71429973 -0.12710231] yaw=-82.0deg [env.py: 1019] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.53999078 -0.92353188 -0.12710231] yaw=-75.8deg [env.py: 1019] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:02 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=96.0ms, total=96.1ms [env.py: 1075] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.469, -1.057, -0.127) [env.py: 1079] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.1 deg [env.py: 1082] +05/18 13:46:02 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.828m [env.py: 1086] +05/18 13:46:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:02 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:02 INFO: [Worker 0] Worker 0 house 1 episode 5/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:02 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:02 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:46:02 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:02 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.290s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:04 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.654[m] 100.223[deg] [grasp_sample.py: 596] +05/18 13:46:04 ERROR: [Worker 0] Worker 0 house 1 episode 5 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:46:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:46:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:46:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:46:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:46:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:46:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:46:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.119547m [env.py: 870] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:46:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 56.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 162.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 31.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -145.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.71444017 -0.8147099 -0.11954744] yaw=-102.5deg [env.py: 1019] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:46:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=144.9ms, total=144.9ms [env.py: 1075] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.714, -0.815, -0.120) [env.py: 1079] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -102.5 deg [env.py: 1082] +05/18 13:46:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.946m [env.py: 1086] +05/18 13:46:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:46:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:46:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:46:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:46:06 INFO: [Worker 0] Worker 0 house 1 episode 6/72 collected=0/12 [pipeline.py: 1044] +05/18 13:46:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/18 13:46:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:46:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:46:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.723s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:46:16 INFO: [Worker 0] Feasible grasp found 572 (originally 265): w/ 0.721[m] 117.701[deg] [grasp_sample.py: 596] +05/18 13:46:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:46:16 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:46:16 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:46:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:46:50 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:46:50 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:46:50 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 13:46:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:46:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.722s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:08 INFO: [Worker 0] Feasible grasp found 541 (originally 234): w/ 0.287[m] 39.232[deg] [grasp_sample.py: 596] +05/18 13:47:09 ERROR: [Worker 0] Worker 0 house 1 episode 6 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:47:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:47:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:47:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:47:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:47:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:47:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.186m, effective arm-mount z=0.674m (base_body_z=-0.186m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.186380m [env.py: 870] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:47:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.36639633 -0.9035641 -0.18637994] yaw=-75.0deg [env.py: 1019] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -88.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -21.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -110.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:47:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=149.4ms, total=149.4ms [env.py: 1075] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.366, -0.904, -0.186) [env.py: 1079] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.0 deg [env.py: 1082] +05/18 13:47:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.013m [env.py: 1086] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:11 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:47:11 INFO: [Worker 0] Worker 0 house 1 episode 7/72 collected=0/12 [pipeline.py: 1044] +05/18 13:47:11 INFO: [Worker 0] Warmed up parallel IK solver in 0.057s [base_object_manipulation_planner_policy.py: 377] +05/18 13:47:11 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:47:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:11 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:19 INFO: [Worker 0] Feasibility-checked 256 grasps in 8.139s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:19 INFO: [Worker 0] Feasible grasp found 527 (originally 220): w/ 0.716[m] 77.453[deg] [grasp_sample.py: 596] +05/18 13:47:20 ERROR: [Worker 0] Worker 0 house 1 episode 7 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:47:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:47:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:47:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:47:21 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 13:47:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:47:21 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 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193206m [env.py: 870] +05/18 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:47:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -179.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 0.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -41.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 51.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 42.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.49385203 -0.78143952 -0.1932063 ] yaw=-63.7deg [env.py: 1019] +05/18 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:47:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=147.6ms, total=147.7ms [env.py: 1075] +05/18 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.494, -0.781, -0.193) [env.py: 1079] +05/18 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.7 deg [env.py: 1082] +05/18 13:47:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.053m [env.py: 1086] +05/18 13:47:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:47:21 INFO: [Worker 0] Worker 0 house 1 episode 8/72 collected=0/12 [pipeline.py: 1044] +05/18 13:47:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 13:47:21 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 13:47:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:30 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.042s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:30 INFO: [Worker 0] Feasible grasp found 424 (originally 117): w/ 0.712[m] 91.269[deg] [grasp_sample.py: 596] +05/18 13:47:31 ERROR: [Worker 0] Worker 0 house 1 episode 8 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:47:33 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:47:33 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:47:33 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:47:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:33 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:47:33 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:47:33 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:47:33 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137179m [env.py: 870] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:47:33 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.20164987 -1.08798771 -0.13717875] yaw=-56.8deg [env.py: 1019] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 25.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.69903756 -0.66417354 -0.13717875] yaw=-71.4deg [env.py: 1019] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.71828752 -0.88962673 -0.13717875] yaw=-72.1deg [env.py: 1019] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:47:33 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.1ms, total=84.1ms [env.py: 1075] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.202, -1.088, -0.137) [env.py: 1079] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -56.8 deg [env.py: 1082] +05/18 13:47:33 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.987m [env.py: 1086] +05/18 13:47:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:47:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:47:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:47:33 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:47:33 INFO: [Worker 0] Worker 0 house 1 episode 9/72 collected=0/12 [pipeline.py: 1044] +05/18 13:47:33 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 13:47:33 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 13:47:33 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:47:33 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:47:35 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.980s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:47:35 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.832[m] 82.739[deg] [grasp_sample.py: 596] +05/18 13:47:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:47:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:47:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:47:35 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 13:48:08 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:48:13 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:48:15 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:48:39 INFO: [Worker 0] Worker 0 house 1 episode 9 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:48:52 INFO: [Worker 0] Saved videos eagerly for episode 2 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 13:48:52 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:48:52 INFO: [Worker 0] Preparing episode data: 297 timesteps [save_utils.py: 278] +05/18 13:49:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:49:01 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 13:49:01 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 9.35s (batch: 2.56s, save: 6.79s) [pipeline.py: 300] +05/18 13:49:01 INFO: [Worker 0] [PROFILE] Episode 9 house 1 success=True episode_total=1.50s: + episode_total: mean=34.79s, total=173.96s, count=5, min=2462.9ms, max=88723.1ms + sensor_polling: mean=189.8ms, total=78.59s, count=414, min=173.5ms, max=353.3ms + save_trajectories: mean=6.79s, total=6.79s, count=1, min=6790.9ms, max=6790.9ms + physics_step: mean=13.3ms, total=5.51s, count=414, min=10.6ms, max=16.1ms + save_batch_prep: mean=2.56s, total=2.56s, count=1, min=2560.9ms, max=2560.9ms + task_sampling: mean=300.5ms, total=1.50s, count=5, min=254.8ms, max=326.2ms + task_specific_sample: mean=298.3ms, total=1.49s, count=5, min=252.9ms, max=323.8ms + scene_randomize: mean=989.2us, total=4.9ms, count=5, min=0.8ms, max=1.7ms + mj_forward_sync: mean=309.3us, total=1.5ms, count=5, min=0.3ms, max=0.3ms + policy_setup: mean=15.1us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:49:03 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:49:03 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:49:03 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:49:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:03 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:49:03 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 13:49:03 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:49:03 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 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133653m [env.py: 870] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:49:03 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 2.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 175.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.41754353 -1.1176702 -0.13365313] yaw=-26.5deg [env.py: 1019] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -136.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 45.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.15680079 -1.17597388 -0.13365313] yaw=-44.2deg [env.py: 1019] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.28120364 -1.14267276 -0.13365313] yaw=-63.4deg [env.py: 1019] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:49:03 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=155.5ms, total=155.5ms [env.py: 1075] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.418, -1.118, -0.134) [env.py: 1079] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -26.5 deg [env.py: 1082] +05/18 13:49:03 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.812m [env.py: 1086] +05/18 13:49:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:49:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:49:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:49:03 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:49:03 INFO: [Worker 0] Worker 0 house 1 episode 10/72 collected=0/12 [pipeline.py: 1044] +05/18 13:49:03 INFO: [Worker 0] Warmed up parallel IK solver in 0.064s [base_object_manipulation_planner_policy.py: 377] +05/18 13:49:03 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:49:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:49:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.071s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:49:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.727s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:49:04 INFO: [Worker 0] Feasible grasp found 193 (originally 193): w/ 0.788[m] 58.434[deg] [grasp_sample.py: 596] +05/18 13:49:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:49:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:49:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:49:36 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:49:41 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:49:42 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:50:06 INFO: [Worker 0] Worker 0 house 1 episode 10 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:50:19 INFO: [Worker 0] Saved videos eagerly for episode 3 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 13:50:19 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:50:19 INFO: [Worker 0] Preparing episode data: 290 timesteps [save_utils.py: 278] +05/18 13:50:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:50:28 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 13:50:28 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 9.49s (batch: 2.66s, save: 6.83s) [pipeline.py: 300] +05/18 13:50:29 INFO: [Worker 0] [PROFILE] Episode 10 house 1 success=True episode_total=0.35s: + episode_total: mean=86.13s, total=86.13s, count=1, min=86129.8ms, max=86129.8ms + sensor_polling: mean=192.4ms, total=55.59s, count=289, min=173.7ms, max=368.9ms + save_trajectories: mean=6.83s, total=6.83s, count=1, min=6833.1ms, max=6833.1ms + physics_step: mean=13.7ms, total=3.97s, count=289, min=10.6ms, max=17.5ms + save_batch_prep: mean=2.66s, total=2.66s, count=1, min=2660.9ms, max=2660.9ms + task_sampling: mean=345.0ms, total=345.0ms, count=1, min=345.0ms, max=345.0ms + task_specific_sample: mean=342.6ms, total=342.6ms, count=1, min=342.6ms, max=342.6ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=321.7us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=15.3us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:50:30 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:50:30 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:50:30 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:50:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:50:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:50:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:50:30 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:50:30 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:50:30 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:50:30 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.112m, effective arm-mount z=0.748m (base_body_z=-0.112m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111983m [env.py: 870] +05/18 13:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:50:30 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 13.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.86546273 -0.6470881 -0.11198333] yaw=-58.2deg [env.py: 1019] +05/18 13:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -66.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -120.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:50:31 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=152.7ms, total=152.7ms [env.py: 1075] +05/18 13:50:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.865, -0.647, -0.112) [env.py: 1079] +05/18 13:50:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -58.2 deg [env.py: 1082] +05/18 13:50:31 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.087m [env.py: 1086] +05/18 13:50:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:50:31 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:50:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:50:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:50:31 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:50:31 INFO: [Worker 0] Worker 0 house 1 episode 11/72 collected=0/12 [pipeline.py: 1044] +05/18 13:50:31 INFO: [Worker 0] Warmed up parallel IK solver in 0.066s [base_object_manipulation_planner_policy.py: 377] +05/18 13:50:31 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 13:50:31 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:50:31 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:50:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.924s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:50:33 ERROR: [Worker 0] Worker 0 house 1 episode 11 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:50:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:50:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:50:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:50:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:50:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:50:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:50:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:50:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:50:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:50:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.120m, effective arm-mount z=0.740m (base_body_z=-0.120m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.120411m [env.py: 870] +05/18 13:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:50:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -54.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 67.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -30.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 5.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=142.5ms, total=142.6ms [env.py: 1105] +05/18 13:50:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:50:34 ERROR: [Worker 0] Worker 0 house 1 episode 12 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:50:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:50:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:50:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:50:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:50:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:50:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:50:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.144m, effective arm-mount z=0.716m (base_body_z=-0.144m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143845m [env.py: 870] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:50:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -13.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -136.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -154.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.09681033 -1.39503938 -0.14384461] yaw=-0.2deg [env.py: 1019] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:50:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=146.0ms, total=146.0ms [env.py: 1075] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.097, -1.395, -0.144) [env.py: 1079] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -0.2 deg [env.py: 1082] +05/18 13:50:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.917m [env.py: 1086] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:50:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:50:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:50:36 INFO: [Worker 0] Worker 0 house 1 episode 13/72 collected=0/12 [pipeline.py: 1044] +05/18 13:50:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/18 13:50:36 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 13:50:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:50:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:50:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.015s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:50:38 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.814[m] 101.940[deg] [grasp_sample.py: 596] +05/18 13:50:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:50:39 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:50:39 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:50:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 13:51:14 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:51:19 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:51:20 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:51:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:45 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:46 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:51:47 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:51:47 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:51:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:51:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:51:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:51:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.940s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:51:49 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.150[m] 11.975[deg] [grasp_sample.py: 596] +05/18 13:51:49 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:51:49 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:51:49 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:51:50 INFO: [Worker 0] Worker 0 house 1 episode 13 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:52:04 INFO: [Worker 0] Saved videos eagerly for episode 4 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 13:52:04 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:52:04 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 13:52:13 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:52:13 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 13:52:13 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 9.57s (batch: 2.56s, save: 7.01s) [pipeline.py: 300] +05/18 13:52:14 INFO: [Worker 0] [PROFILE] Episode 13 house 1 success=True episode_total=0.66s: + episode_total: mean=33.44s, total=100.33s, count=3, min=149.5ms, max=97786.6ms + sensor_polling: mean=191.9ms, total=57.56s, count=300, min=183.5ms, max=311.8ms + save_trajectories: mean=7.01s, total=7.01s, count=1, min=7008.0ms, max=7008.0ms + physics_step: mean=13.4ms, total=4.01s, count=300, min=10.6ms, max=26.1ms + save_batch_prep: mean=2.56s, total=2.56s, count=1, min=2558.6ms, max=2558.6ms + task_specific_sample: mean=268.2ms, total=804.5ms, count=3, min=146.4ms, max=341.1ms + task_sampling: mean=331.1ms, total=662.3ms, count=2, min=318.7ms, max=343.6ms + task_sampling_failed: mean=149.5ms, total=149.5ms, count=1, min=149.5ms, max=149.5ms + scene_randomize: mean=1.0ms, total=3.0ms, count=3, min=0.8ms, max=1.4ms + mj_forward_sync: mean=306.6us, total=0.9ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=14.1us, 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 13:52:15 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:15 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:15 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:15 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:15 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 13:52:15 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:15 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.183m, effective arm-mount z=0.677m (base_body_z=-0.183m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.182537m [env.py: 870] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:15 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -5.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1961719 -1.1886638 -0.18253696] yaw=-39.7deg [env.py: 1019] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 169.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -178.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -57.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.65974468 -0.95826646 -0.18253696] yaw=-75.6deg [env.py: 1019] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.16558625 -1.28724973 -0.18253696] yaw=-40.3deg [env.py: 1019] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=119.7ms, total=119.7ms [env.py: 1075] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.196, -1.189, -0.183) [env.py: 1079] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.7 deg [env.py: 1082] +05/18 13:52:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/18 13:52:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:15 INFO: [Worker 0] Worker 0 house 1 episode 14/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:15 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 13:52:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.737s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:20 INFO: [Worker 0] Feasible grasp found 30 (originally 30): w/ 0.771[m] 74.957[deg] [grasp_sample.py: 596] +05/18 13:52:21 ERROR: [Worker 0] Worker 0 house 1 episode 14 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:52:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:22 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:22 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.179m, effective arm-mount z=0.681m (base_body_z=-0.179m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179122m [env.py: 870] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -155.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 85.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -166.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -162.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 20.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.35869289 -1.04084896 -0.17912213] yaw=-31.7deg [env.py: 1019] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=146.4ms, total=146.4ms [env.py: 1075] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.359, -1.041, -0.179) [env.py: 1079] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -31.7 deg [env.py: 1082] +05/18 13:52:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.909m [env.py: 1086] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:23 INFO: [Worker 0] Worker 0 house 1 episode 15/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:23 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.946s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:25 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.701[m] 66.239[deg] [grasp_sample.py: 596] +05/18 13:52:26 ERROR: [Worker 0] Worker 0 house 1 episode 15 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:52:26 WARNING: [Worker 0] Asset Drawer_b7714dd0 (hash: 372d9ee41d70550432c30a66a6e5b331) dynamically blacklisted after 10 failures: rollout exception: IK failed for pregrasp pose [task_sampler.py: 396] +05/18 13:52:27 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:27 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:27 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:27 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:27 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:52:27 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:27 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.135m, effective arm-mount z=0.725m (base_body_z=-0.135m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.135363m [env.py: 870] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:27 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -166.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 20.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -42.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.30094473 -1.08616654 -0.13536301] yaw=-54.2deg [env.py: 1019] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07713329 -1.1978797 -0.13536301] yaw=-34.1deg [env.py: 1019] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:27 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=149.3ms, total=149.4ms [env.py: 1075] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.301, -1.086, -0.135) [env.py: 1079] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.2 deg [env.py: 1082] +05/18 13:52:27 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.915m [env.py: 1086] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:27 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:27 INFO: [Worker 0] Worker 0 house 1 episode 16/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:27 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:27 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 13:52:27 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:27 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:44 INFO: [Worker 0] Feasibility-checked 256 grasps in 16.549s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:44 INFO: [Worker 0] Feasible grasp found 219 (originally 219): w/ 0.665[m] 109.036[deg] [grasp_sample.py: 596] +05/18 13:52:45 ERROR: [Worker 0] Worker 0 house 1 episode 16 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:52:46 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:46 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:46 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:46 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:46 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 13:52:46 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:46 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 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.198480m [env.py: 870] +05/18 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:46 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 27.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 88.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 166.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -121.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.31302318 -0.88206249 -0.19848017] yaw=-27.0deg [env.py: 1019] +05/18 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:46 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=145.4ms, total=145.4ms [env.py: 1075] +05/18 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.313, -0.882, -0.198) [env.py: 1079] +05/18 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -27.0 deg [env.py: 1082] +05/18 13:52:46 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m [env.py: 1086] +05/18 13:52:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:47 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:47 INFO: [Worker 0] Worker 0 house 1 episode 17/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:47 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:47 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:52:47 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:47 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:49 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.927s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:52:49 ERROR: [Worker 0] Worker 0 house 1 episode 17 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:52:50 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:52:50 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:52:50 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:52:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:50 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:52:50 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 13:52:50 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:52:50 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 13:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.103463m [env.py: 870] +05/18 13:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:52:50 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -153.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 31.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 30.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.76292482 -0.94718025 -0.10346256] yaw=-57.5deg [env.py: 1019] +05/18 13:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -68.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:52:50 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=141.8ms, total=141.8ms [env.py: 1075] +05/18 13:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.763, -0.947, -0.103) [env.py: 1079] +05/18 13:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -57.5 deg [env.py: 1082] +05/18 13:52:50 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.806m [env.py: 1086] +05/18 13:52:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:52:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:52:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:52:50 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:52:50 INFO: [Worker 0] Worker 0 house 1 episode 18/72 collected=0/12 [pipeline.py: 1044] +05/18 13:52:50 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 13:52:50 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 13:52:50 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:52:50 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:52:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.938s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:52:51 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.692[m] 88.749[deg] [grasp_sample.py: 596] +05/18 13:52:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:52:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:52:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:53:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:04 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:07 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:53:07 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:53:07 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:53:07 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:53:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:53:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.231s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:53:08 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.529[m] 64.362[deg] [grasp_sample.py: 596] +05/18 13:53:08 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:53:08 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:53:08 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:53:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:12 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:13 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:16 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:53:16 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:53:16 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:53:16 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:53:16 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:53:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.103s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:53:17 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.529[m] 64.364[deg] [grasp_sample.py: 596] +05/18 13:53:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:53:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:53:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:53:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:21 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:22 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:23 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:24 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:24 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:53:24 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:53:24 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 13:53:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:53:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:53:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.239s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:53:26 INFO: [Worker 0] Feasible grasp found 580 (originally 273): w/ 0.529[m] 64.364[deg] [grasp_sample.py: 596] +05/18 13:53:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:53:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:53:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:53:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:31 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:53:33 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:53:33 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 13:53:33 INFO: [Worker 0] Worker 0 house 1 episode 18 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 13:53:33 INFO: [Worker 0] [PROFILE] Episode 18 house 1 success=False episode_total=1.59s: + episode_total: mean=14.52s, total=72.62s, count=5, min=2368.5ms, max=43359.5ms + sensor_polling: mean=190.3ms, total=13.89s, count=73, min=181.8ms, max=286.0ms + task_sampling: mean=317.4ms, total=1.59s, count=5, min=310.2ms, max=325.7ms + task_specific_sample: mean=315.0ms, total=1.57s, count=5, min=306.7ms, max=323.1ms + physics_step: mean=11.5ms, total=838.4ms, count=73, min=9.2ms, max=13.3ms + scene_randomize: mean=1.3ms, total=6.3ms, count=5, min=0.8ms, max=2.5ms + mj_forward_sync: mean=310.9us, total=1.6ms, count=5, min=0.3ms, max=0.3ms + policy_setup: mean=12.9us, total=0.1ms, count=5, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=5, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:53:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:53:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:53:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:53:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:53:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:53:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:53:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:53:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:53:35 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 13:53:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:53:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.166m, effective arm-mount z=0.694m (base_body_z=-0.166m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.166473m [env.py: 870] +05/18 13:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:53:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -136.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -129.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 25.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.46724419 -0.97498723 -0.16647286] yaw=-72.9deg [env.py: 1019] +05/18 13:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 91.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:53:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=149.4ms, total=149.4ms [env.py: 1075] +05/18 13:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.467, -0.975, -0.166) [env.py: 1079] +05/18 13:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.9 deg [env.py: 1082] +05/18 13:53:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.897m [env.py: 1086] +05/18 13:53:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:53:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:53:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:53:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:53:35 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:53:35 INFO: [Worker 0] Worker 0 house 1 episode 19/72 collected=0/12 [pipeline.py: 1044] +05/18 13:53:35 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 13:53:35 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:53:35 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:53:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:53:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.042s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:53:37 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.640[m] 99.133[deg] [grasp_sample.py: 596] +05/18 13:53:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:53:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:53:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:04 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:08 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:54:10 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:25 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 13:54:25 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:54:25 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:54:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:54:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.115s, found 152 non-colliding grasps [grasp_sample.py: 520] +05/18 13:54:26 INFO: [Worker 0] Feasibility-checked 152 grasps in 0.283s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:54:26 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.046[m] 1.258[deg] [grasp_sample.py: 596] +05/18 13:54:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:54:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:54:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:28 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:32 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:54:34 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:54:44 INFO: [Worker 0] Worker 0 house 1 episode 19 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:54:58 INFO: [Worker 0] Saved videos eagerly for episode 5 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 13:54:58 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:54:58 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 13:55:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:55:07 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 13:55:07 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 9.37s (batch: 2.84s, save: 6.53s) [pipeline.py: 300] +05/18 13:55:08 INFO: [Worker 0] [PROFILE] Episode 19 house 1 success=True episode_total=0.33s: + episode_total: mean=92.70s, total=92.70s, count=1, min=92700.2ms, max=92700.2ms + sensor_polling: mean=195.6ms, total=58.68s, count=300, min=181.1ms, max=301.8ms + save_trajectories: mean=6.53s, total=6.53s, count=1, min=6530.6ms, max=6530.6ms + physics_step: mean=13.9ms, total=4.18s, count=300, min=11.2ms, max=30.3ms + save_batch_prep: mean=2.84s, total=2.84s, count=1, min=2835.2ms, max=2835.2ms + task_sampling: mean=332.7ms, total=332.7ms, count=1, min=332.7ms, max=332.7ms + task_specific_sample: mean=330.4ms, total=330.4ms, count=1, min=330.4ms, max=330.4ms + scene_randomize: mean=1.1ms, total=1.1ms, count=1, min=1.1ms, max=1.1ms + mj_forward_sync: mean=307.4us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + 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 13:55:09 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:09 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:09 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:09 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:09 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 13:55:09 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:09 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 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.164697m [env.py: 870] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:09 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 15.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.1846805 -1.05708355 -0.16469722] yaw=-47.5deg [env.py: 1019] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -7.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.89982106 -0.65569171 -0.16469722] yaw=-92.4deg [env.py: 1019] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.38990576 -0.79483969 -0.16469722] yaw=-80.9deg [env.py: 1019] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:55:09 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=92.8ms, total=92.9ms [env.py: 1075] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.185, -1.057, -0.165) [env.py: 1079] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -47.5 deg [env.py: 1082] +05/18 13:55:09 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/18 13:55:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:09 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:55:09 INFO: [Worker 0] Worker 0 house 1 episode 20/72 collected=0/12 [pipeline.py: 1044] +05/18 13:55:09 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 13:55:09 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:55:09 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:55:09 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:11 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.956s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:55:11 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.747[m] 84.450[deg] [grasp_sample.py: 596] +05/18 13:55:12 ERROR: [Worker 0] Worker 0 house 1 episode 20 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:55:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:55:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:55:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:55:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:55:14 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 13:55:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:55:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.150m, effective arm-mount z=0.710m (base_body_z=-0.150m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.149586m [env.py: 870] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:55:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 47.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 80.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 41.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -93.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 69.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.16564738 -1.3785461 -0.14958569] yaw=-16.2deg [env.py: 1019] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:55:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=146.7ms, total=146.7ms [env.py: 1075] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.166, -1.379, -0.150) [env.py: 1079] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -16.2 deg [env.py: 1082] +05/18 13:55:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/18 13:55:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:55:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:55:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:55:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:55:14 INFO: [Worker 0] Worker 0 house 1 episode 21/72 collected=0/12 [pipeline.py: 1044] +05/18 13:55:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.047s [base_object_manipulation_planner_policy.py: 377] +05/18 13:55:14 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 13:55:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:55:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:55:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.873s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:55:17 INFO: [Worker 0] Feasible grasp found 85 (originally 85): w/ 0.603[m] 79.334[deg] [grasp_sample.py: 596] +05/18 13:55:17 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:55:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:55:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:55:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:55:47 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 13:55:49 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 13:56:12 INFO: [Worker 0] Worker 0 house 1 episode 21 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 13:56:24 INFO: [Worker 0] Saved videos eagerly for episode 6 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 13:56:24 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 13:56:24 INFO: [Worker 0] Preparing episode data: 259 timesteps [save_utils.py: 278] +05/18 13:56:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 13:56:32 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 13:56:32 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 8.37s (batch: 2.46s, save: 5.91s) [pipeline.py: 300] +05/18 13:56:33 INFO: [Worker 0] [PROFILE] Episode 21 house 1 success=True episode_total=0.61s: + episode_total: mean=41.15s, total=82.30s, count=2, min=3122.5ms, max=79176.0ms + sensor_polling: mean=195.4ms, total=50.42s, count=258, min=184.3ms, max=328.3ms + save_trajectories: mean=5.91s, total=5.91s, count=1, min=5914.9ms, max=5914.9ms + physics_step: mean=13.6ms, total=3.51s, count=258, min=10.7ms, max=15.8ms + save_batch_prep: mean=2.46s, total=2.46s, count=1, min=2456.2ms, max=2456.2ms + task_sampling: mean=303.4ms, total=606.7ms, count=2, min=281.5ms, max=325.3ms + task_specific_sample: mean=301.0ms, total=601.9ms, count=2, min=278.9ms, max=323.0ms + scene_randomize: mean=1.1ms, total=2.3ms, count=2, min=0.7ms, max=1.5ms + mj_forward_sync: mean=309.4us, total=0.6ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=13.9us, total=0.0ms, count=2, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 13:56:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:34 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:56:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.196m, effective arm-mount z=0.664m (base_body_z=-0.196m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.195896m [env.py: 870] +05/18 13:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -172.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 58.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -128.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -24.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 46.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=150.0ms, total=150.1ms [env.py: 1105] +05/18 13:56:34 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:56:34 ERROR: [Worker 0] Worker 0 house 1 episode 22 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 13:56:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:36 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:56:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.175m, effective arm-mount z=0.685m (base_body_z=-0.175m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.175485m [env.py: 870] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 69.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -39.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -147.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 39.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -108.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=139.7ms, total=139.8ms [env.py: 1105] +05/18 13:56:36 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 13:56:36 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 13:56:37 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:37 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:37 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:37 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:37 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 13:56:37 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:37 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.156m, effective arm-mount z=0.704m (base_body_z=-0.156m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.156168m [env.py: 870] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:37 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.39947307 -0.98252526 -0.15616838] yaw=-28.1deg [env.py: 1019] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.55411149 -1.02101624 -0.15616838] yaw=-35.1deg [env.py: 1019] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 58.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -110.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 86.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:56:37 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=144.7ms, total=144.8ms [env.py: 1075] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.399, -0.983, -0.156) [env.py: 1079] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.1 deg [env.py: 1082] +05/18 13:56:37 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.929m [env.py: 1086] +05/18 13:56:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:37 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:38 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:56:38 INFO: [Worker 0] Worker 0 house 1 episode 24/72 collected=0/12 [pipeline.py: 1044] +05/18 13:56:38 INFO: [Worker 0] Warmed up parallel IK solver in 0.056s [base_object_manipulation_planner_policy.py: 377] +05/18 13:56:38 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:56:38 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:38 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:40 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.997s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:56:40 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.835[m] 71.173[deg] [grasp_sample.py: 596] +05/18 13:56:41 ERROR: [Worker 0] Worker 0 house 1 episode 24 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:56:42 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:42 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:42 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:42 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:42 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 13:56:42 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:42 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143474m [env.py: 870] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:42 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.53684355 -0.90775091 -0.14347409] yaw=-77.7deg [env.py: 1019] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 76.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.15971969 -1.34729385 -0.14347409] yaw=0.4deg [env.py: 1019] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -31.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -43.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:56:42 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=148.3ms, total=148.3ms [env.py: 1075] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.537, -0.908, -0.143) [env.py: 1079] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -77.7 deg [env.py: 1082] +05/18 13:56:42 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.921m [env.py: 1086] +05/18 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:42 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:42 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:56:42 INFO: [Worker 0] Worker 0 house 1 episode 25/72 collected=0/12 [pipeline.py: 1044] +05/18 13:56:42 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 13:56:42 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 13:56:42 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:42 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:45 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.731s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:56:45 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.591[m] 113.401[deg] [grasp_sample.py: 596] +05/18 13:56:46 ERROR: [Worker 0] Worker 0 house 1 episode 25 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:56:47 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:47 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:47 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:47 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:47 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 13:56:47 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:47 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 13:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176527m [env.py: 870] +05/18 13:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:47 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -53.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 3.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -3.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.29631073 -1.24129778 -0.17652735] yaw=-61.1deg [env.py: 1019] +05/18 13:56:47 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:56:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=151.7ms, total=151.7ms [env.py: 1075] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.296, -1.241, -0.177) [env.py: 1079] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -61.1 deg [env.py: 1082] +05/18 13:56:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.817m [env.py: 1086] +05/18 13:56:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:56:48 INFO: [Worker 0] Worker 0 house 1 episode 26/72 collected=0/12 [pipeline.py: 1044] +05/18 13:56:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 13:56:48 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:56:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:48 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.610s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:56:48 INFO: [Worker 0] Feasible grasp found 155 (originally 155): w/ 0.481[m] 106.872[deg] [grasp_sample.py: 596] +05/18 13:56:49 ERROR: [Worker 0] Worker 0 house 1 episode 26 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:56:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:56:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:56:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:56:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:56:51 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 13:56:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:56:51 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 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188166m [env.py: 870] +05/18 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:56:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -29.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.52539347 -0.8198269 -0.18816556] yaw=-39.9deg [env.py: 1019] +05/18 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.4282872 -1.1195061 -0.18816556] yaw=-71.6deg [env.py: 1019] +05/18 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -158.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -127.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:56:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=152.6ms, total=152.6ms [env.py: 1075] +05/18 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.525, -0.820, -0.188) [env.py: 1079] +05/18 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -39.9 deg [env.py: 1082] +05/18 13:56:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.005m [env.py: 1086] +05/18 13:56:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:56:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:56:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:56:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:56:51 INFO: [Worker 0] Worker 0 house 1 episode 27/72 collected=0/12 [pipeline.py: 1044] +05/18 13:56:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 13:56:51 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 13:56:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:56:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:56:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.860s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:56:53 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 1.019[m] 80.320[deg] [grasp_sample.py: 596] +05/18 13:56:54 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:56:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:56:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:57:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:42 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:57:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 13:57:43 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 13:57:43 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:57:43 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:57:43 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:57:43 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:57:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 9.727s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:57:53 INFO: [Worker 0] Feasible grasp found 79 (originally 79): w/ 0.091[m] 9.033[deg] [grasp_sample.py: 596] +05/18 13:57:54 ERROR: [Worker 0] Worker 0 house 1 episode 27 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:57:55 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:57:55 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:57:55 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:57:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:57:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:57:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:57:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:57:55 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:57:55 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:57:55 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:57:55 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 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.136054m [env.py: 870] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:57:55 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 48.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -30.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -20.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 7.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -40.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.46682334 -0.90667666 -0.13605417] yaw=-33.3deg [env.py: 1019] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.72788656 -0.92715619 -0.13605417] yaw=-70.6deg [env.py: 1019] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:57:55 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=147.1ms, total=147.1ms [env.py: 1075] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.467, -0.907, -0.136) [env.py: 1079] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.3 deg [env.py: 1082] +05/18 13:57:55 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.956m [env.py: 1086] +05/18 13:57:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:57:55 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:57:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:57:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:57:55 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:57:55 INFO: [Worker 0] Worker 0 house 1 episode 28/72 collected=0/12 [pipeline.py: 1044] +05/18 13:57:55 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 13:57:55 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 13:57:55 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:57:55 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:57:58 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.787s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:57:58 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.808[m] 55.116[deg] [grasp_sample.py: 596] +05/18 13:57:58 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:57:59 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:57:59 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:58:26 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:27 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:28 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:29 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:30 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:32 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:33 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:34 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:35 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:36 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:37 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 13:58:39 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 13:58:39 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 13:58:39 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:58:39 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:21 INFO: [Worker 0] Feasibility-checked 256 grasps in 42.322s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:59:21 INFO: [Worker 0] Feasible grasp found 246 (originally 246): w/ 0.173[m] 33.914[deg] [grasp_sample.py: 596] +05/18 13:59:22 ERROR: [Worker 0] Worker 0 house 1 episode 28 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:59:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:24 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:59:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:24 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109389m [env.py: 870] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 9.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 176.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -108.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 41.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -10.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.28807645 -1.21482406 -0.10938914] yaw=-23.1deg [env.py: 1019] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.10995392 -1.26158263 -0.10938914] yaw=-2.8deg [env.py: 1019] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=148.3ms, total=148.3ms [env.py: 1075] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.288, -1.215, -0.109) [env.py: 1079] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.1 deg [env.py: 1082] +05/18 13:59:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.839m [env.py: 1086] +05/18 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:24 INFO: [Worker 0] Worker 0 house 1 episode 29/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:24 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 13:59:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.071s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:42 INFO: [Worker 0] Feasibility-checked 256 grasps in 18.212s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:59:42 INFO: [Worker 0] Feasible grasp found 182 (originally 182): w/ 0.565[m] 73.521[deg] [grasp_sample.py: 596] +05/18 13:59:43 ERROR: [Worker 0] Worker 0 house 1 episode 29 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:59:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:45 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:59:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:45 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.143m, effective arm-mount z=0.717m (base_body_z=-0.143m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.143106m [env.py: 870] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -24.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -167.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[-0.04198176 -1.28040714 -0.14310617] yaw=-11.3deg [env.py: 1019] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 37.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -90.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.21067041 -1.15484958 -0.14310617] yaw=-49.9deg [env.py: 1019] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.69572 -0.66109781 -0.14310617] yaw=-94.9deg [env.py: 1019] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 8 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=126.2ms, total=126.2ms [env.py: 1075] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.042, -1.280, -0.143) [env.py: 1079] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -11.3 deg [env.py: 1082] +05/18 13:59:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.090m [env.py: 1086] +05/18 13:59:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:45 INFO: [Worker 0] Worker 0 house 1 episode 30/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.059s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:59:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.071s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.895s, found feasible grasp: False [grasp_sample.py: 557] +05/18 13:59:47 ERROR: [Worker 0] Worker 0 house 1 episode 30 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 13:59:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:59:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.168m, effective arm-mount z=0.692m (base_body_z=-0.168m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.167684m [env.py: 870] +05/18 13:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -159.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -147.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.84021584 -0.81172075 -0.16768406] yaw=-54.6deg [env.py: 1019] +05/18 13:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 168.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 62.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.57109736 -0.94791496 -0.16768406] yaw=-66.4deg [env.py: 1019] +05/18 13:59:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=152.2ms, total=152.2ms [env.py: 1075] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.840, -0.812, -0.168) [env.py: 1079] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.6 deg [env.py: 1082] +05/18 13:59:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.926m [env.py: 1086] +05/18 13:59:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:49 INFO: [Worker 0] Worker 0 house 1 episode 31/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:49 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 13:59:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.353s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:59:51 INFO: [Worker 0] Feasible grasp found 114 (originally 114): w/ 0.817[m] 149.673[deg] [grasp_sample.py: 596] +05/18 13:59:52 ERROR: [Worker 0] Worker 0 house 1 episode 31 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 13:59:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 13:59:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 13:59:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 13:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 13:59:53 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 13:59:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 13:59:53 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.153m, effective arm-mount z=0.707m (base_body_z=-0.153m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.153290m [env.py: 870] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 13:59:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 166.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.39046814 -0.93569577 -0.15328983] yaw=-35.7deg [env.py: 1019] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -116.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -144.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -11.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.89124364 -0.67953383 -0.15328983] yaw=-103.6deg [env.py: 1019] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39051913 -0.87241872 -0.15328983] yaw=-75.7deg [env.py: 1019] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 13:59:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=112.8ms, total=112.8ms [env.py: 1075] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.390, -0.936, -0.153) [env.py: 1079] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.7 deg [env.py: 1082] +05/18 13:59:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.972m [env.py: 1086] +05/18 13:59:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 13:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 13:59:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 13:59:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 13:59:54 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 13:59:54 INFO: [Worker 0] Worker 0 house 1 episode 32/72 collected=0/12 [pipeline.py: 1044] +05/18 13:59:54 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 13:59:54 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 13:59:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 13:59:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 13:59:56 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.719s, found feasible grasp: True [grasp_sample.py: 557] +05/18 13:59:56 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.651[m] 68.990[deg] [grasp_sample.py: 596] +05/18 13:59:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 13:59:57 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 13:59:57 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 13:59:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:00:23 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:27 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:00:29 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:53 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:00:53 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:00:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:00:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:00:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.128s, found 76 non-colliding grasps [grasp_sample.py: 520] +05/18 14:00:53 INFO: [Worker 0] Feasibility-checked 76 grasps in 0.299s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:00:53 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.023[m] 3.270[deg] [grasp_sample.py: 596] +05/18 14:00:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:00:53 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:00:53 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:55 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:00:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:01:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:01:01 INFO: [Worker 0] Worker 0 house 1 episode 32 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:01:14 INFO: [Worker 0] Saved videos eagerly for episode 7 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 14:01:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:01:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:01:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:01:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 14:01:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 9.59s (batch: 2.71s, save: 6.88s) [pipeline.py: 300] +05/18 14:01:24 INFO: [Worker 0] [PROFILE] Episode 32 house 1 success=True episode_total=2.88s: + episode_total: mean=25.07s, total=275.73s, count=11, min=146.1ms, max=91057.0ms + sensor_polling: mean=193.0ms, total=123.32s, count=639, min=176.7ms, max=333.5ms + physics_step: mean=13.2ms, total=8.45s, count=639, min=10.6ms, max=30.1ms + save_trajectories: mean=6.88s, total=6.88s, count=1, min=6880.4ms, max=6880.4ms + task_specific_sample: mean=286.7ms, total=3.15s, count=11, min=143.4ms, max=333.8ms + task_sampling: mean=319.5ms, total=2.88s, count=9, min=283.1ms, max=335.5ms + save_batch_prep: mean=2.71s, total=2.71s, count=1, min=2713.6ms, max=2713.6ms + task_sampling_failed: mean=151.9ms, total=303.8ms, count=2, min=146.1ms, max=157.7ms + scene_randomize: mean=881.3us, total=9.7ms, count=11, min=0.7ms, max=1.5ms + mj_forward_sync: mean=308.5us, total=3.4ms, count=11, min=0.3ms, max=0.3ms + policy_setup: mean=13.1us, total=0.1ms, count=9, 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 14:01:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:01:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:01:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:01:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:01:26 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 14:01:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:01:26 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.137m, effective arm-mount z=0.723m (base_body_z=-0.137m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.137451m [env.py: 870] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:01:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -48.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 2.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -150.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -2.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 166.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.85748113 -0.79983752 -0.1374506 ] yaw=-72.5deg [env.py: 1019] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:01:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=148.5ms, total=148.5ms [env.py: 1075] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.857, -0.800, -0.137) [env.py: 1079] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -72.5 deg [env.py: 1082] +05/18 14:01:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/18 14:01:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:01:26 INFO: [Worker 0] Worker 0 house 1 episode 33/72 collected=0/12 [pipeline.py: 1044] +05/18 14:01:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 14:01:26 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 14:01:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:01:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:33 INFO: [Worker 0] Feasibility-checked 256 grasps in 6.648s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:01:33 INFO: [Worker 0] Feasible grasp found 150 (originally 150): w/ 0.804[m] 77.241[deg] [grasp_sample.py: 596] +05/18 14:01:34 ERROR: [Worker 0] Worker 0 house 1 episode 33 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:01:35 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:01:35 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:01:35 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:01:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:35 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:01:35 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 14:01:35 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:01:35 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.194m, effective arm-mount z=0.666m (base_body_z=-0.194m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.193514m [env.py: 870] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:01:35 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -38.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 5.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -99.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.22598392 -1.38979244 -0.1935137 ] yaw=-0.6deg [env.py: 1019] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 61.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.63797788 -0.79092218 -0.1935137 ] yaw=-67.3deg [env.py: 1019] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:01:35 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=145.7ms, total=145.7ms [env.py: 1075] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.226, -1.390, -0.194) [env.py: 1079] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -0.6 deg [env.py: 1082] +05/18 14:01:35 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.800m [env.py: 1086] +05/18 14:01:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:01:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:01:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:01:36 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:01:36 INFO: [Worker 0] Worker 0 house 1 episode 34/72 collected=0/12 [pipeline.py: 1044] +05/18 14:01:36 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 14:01:36 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 14:01:36 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:01:36 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:01:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.049s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:01:38 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.563[m] 94.233[deg] [grasp_sample.py: 596] +05/18 14:01:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:01:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:01:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:01:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:02:02 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:06 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:02:08 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:08 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:02:08 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:02:08 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 14:02:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:02:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.129s, found 77 non-colliding grasps [grasp_sample.py: 520] +05/18 14:02:09 INFO: [Worker 0] Feasibility-checked 77 grasps in 0.363s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:02:09 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.032[m] 4.525[deg] [grasp_sample.py: 596] +05/18 14:02:09 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:02:09 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:02:09 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:11 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:15 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:02:17 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:02:41 INFO: [Worker 0] Worker 0 house 1 episode 34 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:02:54 INFO: [Worker 0] Saved videos eagerly for episode 8 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 14:02:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:02:54 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/18 14:03:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:03:03 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 14:03:03 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 9.20s (batch: 2.46s, save: 6.74s) [pipeline.py: 300] +05/18 14:03:03 INFO: [Worker 0] [PROFILE] Episode 34 house 1 success=True episode_total=0.66s: + episode_total: mean=47.92s, total=95.84s, count=2, min=7879.7ms, max=87960.4ms + sensor_polling: mean=196.1ms, total=57.26s, count=292, min=182.8ms, max=291.2ms + save_trajectories: mean=6.74s, total=6.74s, count=1, min=6737.1ms, max=6737.1ms + physics_step: mean=13.9ms, total=4.07s, count=292, min=10.7ms, max=22.4ms + save_batch_prep: mean=2.46s, total=2.46s, count=1, min=2459.6ms, max=2459.6ms + task_sampling: mean=330.5ms, total=660.9ms, count=2, min=319.1ms, max=341.8ms + task_specific_sample: mean=327.9ms, total=655.7ms, count=2, min=316.7ms, max=339.1ms + scene_randomize: mean=1.2ms, total=2.5ms, count=2, min=0.8ms, max=1.7ms + mj_forward_sync: mean=307.4us, total=0.6ms, count=2, min=0.3ms, max=0.3ms + 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 14:03:05 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:03:05 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:03:05 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:03:05 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:05 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:05 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:05 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:03:05 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:03:05 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:03:05 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 14:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.160734m [env.py: 870] +05/18 14:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:03:05 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 26.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -132.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -47.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:05 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -88.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:05 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=148.2ms, total=148.3ms [env.py: 1105] +05/18 14:03:05 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:03:05 ERROR: [Worker 0] Worker 0 house 1 episode 35 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:03:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:03:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:03:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:03:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:03:06 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 14:03:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:03:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.170m, effective arm-mount z=0.690m (base_body_z=-0.170m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.169958m [env.py: 870] +05/18 14:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:03:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -56.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -5.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 34.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -80.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.67562647 -0.70944362 -0.16995804] yaw=-74.2deg [env.py: 1019] +05/18 14:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:03:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=148.5ms, total=148.5ms [env.py: 1075] +05/18 14:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.676, -0.709, -0.170) [env.py: 1079] +05/18 14:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -74.2 deg [env.py: 1082] +05/18 14:03:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.058m [env.py: 1086] +05/18 14:03:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:03:06 INFO: [Worker 0] Worker 0 house 1 episode 36/72 collected=0/12 [pipeline.py: 1044] +05/18 14:03:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 14:03:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:03:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:03:07 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:03:08 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.845s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:03:08 ERROR: [Worker 0] Worker 0 house 1 episode 36 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:03:10 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:03:10 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:03:10 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:03:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:10 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:03:10 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:03:10 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:03:10 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.190m, effective arm-mount z=0.670m (base_body_z=-0.190m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.189770m [env.py: 870] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:03:10 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -118.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 47.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 44.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -62.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.81889309 -0.78000007 -0.18977004] yaw=-109.9deg [env.py: 1019] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:03:10 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=142.7ms, total=142.7ms [env.py: 1075] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.819, -0.780, -0.190) [env.py: 1079] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -109.9 deg [env.py: 1082] +05/18 14:03:10 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.960m [env.py: 1086] +05/18 14:03:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:10 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:03:10 INFO: [Worker 0] Worker 0 house 1 episode 37/72 collected=0/12 [pipeline.py: 1044] +05/18 14:03:10 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 14:03:10 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:03:10 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:03:10 INFO: [Worker 0] Collision-checked 512 grasps in 0.072s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:03:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.076s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:03:12 INFO: [Worker 0] Feasible grasp found 467 (originally 160): w/ 0.767[m] 69.588[deg] [grasp_sample.py: 596] +05/18 14:03:13 ERROR: [Worker 0] Worker 0 house 1 episode 37 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:03:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:03:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:03:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:03:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:03:14 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 14:03:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:03:14 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 14:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145852m [env.py: 870] +05/18 14:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:03:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -79.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -26.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 87.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -64.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 88.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.47053892 -0.78408271 -0.14585215] yaw=-73.4deg [env.py: 1019] +05/18 14:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.2806626 -1.11094286 -0.14585215] yaw=-51.4deg [env.py: 1019] +05/18 14:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:03:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=148.7ms, total=148.7ms [env.py: 1075] +05/18 14:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.471, -0.784, -0.146) [env.py: 1079] +05/18 14:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -73.4 deg [env.py: 1082] +05/18 14:03:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.061m [env.py: 1086] +05/18 14:03:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:03:15 INFO: [Worker 0] Worker 0 house 1 episode 38/72 collected=0/12 [pipeline.py: 1044] +05/18 14:03:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 14:03:15 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 14:03:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:03:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:03:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.945s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:03:17 ERROR: [Worker 0] Worker 0 house 1 episode 38 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:03:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:03:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:03:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:03:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:03:18 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 14:03:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:03:18 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.152m, effective arm-mount z=0.708m (base_body_z=-0.152m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.152254m [env.py: 870] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:03:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -130.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -25.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 63.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 4.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.23391079 -1.23714767 -0.15225375] yaw=-13.0deg [env.py: 1019] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:03:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=148.3ms, total=148.3ms [env.py: 1075] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.234, -1.237, -0.152) [env.py: 1079] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -13.0 deg [env.py: 1082] +05/18 14:03:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.870m [env.py: 1086] +05/18 14:03:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:03:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:03:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:03:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:03:19 INFO: [Worker 0] Worker 0 house 1 episode 39/72 collected=0/12 [pipeline.py: 1044] +05/18 14:03:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.040s [base_object_manipulation_planner_policy.py: 377] +05/18 14:03:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:03:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:03:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.071s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:03:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 17.888s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:03:37 INFO: [Worker 0] Feasible grasp found 43 (originally 43): w/ 0.564[m] 83.284[deg] [grasp_sample.py: 596] +05/18 14:03:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:03:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:03:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:03:37 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 14:03:59 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:04:03 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:04:05 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:04:29 INFO: [Worker 0] Worker 0 house 1 episode 39 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:04:41 INFO: [Worker 0] Saved videos eagerly for episode 9 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 14:04:41 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:04:41 INFO: [Worker 0] Preparing episode data: 247 timesteps [save_utils.py: 278] +05/18 14:04:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:04:49 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 14:04:49 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 8.11s (batch: 2.45s, save: 5.66s) [pipeline.py: 300] +05/18 14:04:49 INFO: [Worker 0] [PROFILE] Episode 39 house 1 success=True episode_total=1.30s: + episode_total: mean=19.88s, total=99.39s, count=5, min=155.6ms, max=91243.9ms + sensor_polling: mean=196.1ms, total=48.25s, count=246, min=182.7ms, max=331.7ms + save_trajectories: mean=5.66s, total=5.66s, count=1, min=5659.1ms, max=5659.1ms + physics_step: mean=13.8ms, total=3.40s, count=246, min=10.6ms, max=16.4ms + save_batch_prep: mean=2.45s, total=2.45s, count=1, min=2448.1ms, max=2448.1ms + task_specific_sample: mean=288.0ms, total=1.44s, count=5, min=152.4ms, max=342.6ms + task_sampling: mean=323.9ms, total=1.30s, count=4, min=311.9ms, max=344.7ms + task_sampling_failed: mean=155.6ms, total=155.6ms, count=1, min=155.6ms, max=155.6ms + scene_randomize: mean=916.2us, total=4.6ms, count=5, min=0.8ms, max=1.5ms + mj_forward_sync: mean=307.4us, total=1.5ms, count=5, min=0.3ms, max=0.3ms + policy_setup: mean=13.5us, 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 14:04:51 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:04:51 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:04:51 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:51 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:04:51 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 14:04:51 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:04:51 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.133m, effective arm-mount z=0.727m (base_body_z=-0.133m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.132707m [env.py: 870] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:04:51 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -86.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -150.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.13096484 -1.22817463 -0.13270734] yaw=-28.3deg [env.py: 1019] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -114.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.07234126 -1.11435206 -0.13270734] yaw=-19.6deg [env.py: 1019] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.89944299 -0.75183363 -0.13270734] yaw=-107.4deg [env.py: 1019] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:04:51 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 7 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=123.3ms, total=123.4ms [env.py: 1075] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.131, -1.228, -0.133) [env.py: 1079] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -28.3 deg [env.py: 1082] +05/18 14:04:51 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.961m [env.py: 1086] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:04:51 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:04:51 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:04:51 INFO: [Worker 0] Worker 0 house 1 episode 40/72 collected=0/12 [pipeline.py: 1044] +05/18 14:04:51 INFO: [Worker 0] Warmed up parallel IK solver in 0.060s [base_object_manipulation_planner_policy.py: 377] +05/18 14:04:51 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 14:04:51 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:04:51 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:04:53 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.036s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:04:53 INFO: [Worker 0] Feasible grasp found 239 (originally 239): w/ 0.887[m] 67.422[deg] [grasp_sample.py: 596] +05/18 14:04:53 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:04:54 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:04:54 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:05:30 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:05:34 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:05:36 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:05:57 INFO: [Worker 0] Worker 0 house 1 episode 40 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:06:10 INFO: [Worker 0] Saved videos eagerly for episode 10 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 14:06:10 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:06:10 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:06:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:06:19 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 14:06:19 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 9.48s (batch: 2.53s, save: 6.94s) [pipeline.py: 300] +05/18 14:06:20 INFO: [Worker 0] [PROFILE] Episode 40 house 1 success=True episode_total=0.32s: + episode_total: mean=88.91s, total=88.91s, count=1, min=88908.0ms, max=88908.0ms + sensor_polling: mean=192.5ms, total=57.76s, count=300, min=174.7ms, max=350.3ms + save_trajectories: mean=6.94s, total=6.94s, count=1, min=6943.1ms, max=6943.1ms + physics_step: mean=13.6ms, total=4.07s, count=300, min=10.7ms, max=24.9ms + save_batch_prep: mean=2.53s, total=2.53s, count=1, min=2533.0ms, max=2533.0ms + task_sampling: mean=315.7ms, total=315.7ms, count=1, min=315.7ms, max=315.7ms + task_specific_sample: mean=313.2ms, total=313.2ms, count=1, min=313.2ms, max=313.2ms + scene_randomize: mean=1.5ms, total=1.5ms, count=1, min=1.5ms, max=1.5ms + mj_forward_sync: mean=318.2us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + 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 14:06:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:06:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:06:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:06:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:06:21 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 14:06:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:06:21 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 14:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134437m [env.py: 870] +05/18 14:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:06:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -126.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -166.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -95.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -68.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -140.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=151.7ms, total=151.7ms [env.py: 1105] +05/18 14:06:21 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:06:21 ERROR: [Worker 0] Worker 0 house 1 episode 41 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:06:23 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:06:23 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:06:23 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:06:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:23 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:06:23 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 14:06:23 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:06:23 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 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180409m [env.py: 870] +05/18 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:06:23 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -100.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: pos=[ 0.50424881 -0.77591356 -0.18040889] yaw=-52.6deg [env.py: 1019] +05/18 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.7946916 -0.82308687 -0.18040889] yaw=-68.6deg [env.py: 1019] +05/18 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 163.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 25.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:06:23 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=150.9ms, total=150.9ms [env.py: 1075] +05/18 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.504, -0.776, -0.180) [env.py: 1079] +05/18 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.6 deg [env.py: 1082] +05/18 14:06:23 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.054m [env.py: 1086] +05/18 14:06:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:06:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:06:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:06:23 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:06:23 INFO: [Worker 0] Worker 0 house 1 episode 42/72 collected=0/12 [pipeline.py: 1044] +05/18 14:06:23 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 14:06:23 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 14:06:23 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:06:23 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:06:25 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.060s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:06:25 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.852[m] 69.814[deg] [grasp_sample.py: 596] +05/18 14:06:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:06:26 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:06:26 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:07:00 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:07:04 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:07:06 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:07:29 INFO: [Worker 0] Worker 0 house 1 episode 42 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:07:42 INFO: [Worker 0] Saved videos eagerly for episode 11 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 14:07:42 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:07:42 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:07:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:07:51 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 14:07:51 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 9.18s (batch: 2.46s, save: 6.72s) [pipeline.py: 300] +05/18 14:07:51 INFO: [Worker 0] [PROFILE] Episode 42 house 1 success=True episode_total=0.34s: + episode_total: mean=44.34s, total=88.67s, count=2, min=160.3ms, max=88513.2ms + sensor_polling: mean=191.5ms, total=57.44s, count=300, min=180.5ms, max=322.2ms + save_trajectories: mean=6.72s, total=6.72s, count=1, min=6722.7ms, max=6722.7ms + physics_step: mean=13.4ms, total=4.02s, count=300, min=10.7ms, max=18.2ms + save_batch_prep: mean=2.46s, total=2.46s, count=1, min=2461.8ms, max=2461.8ms + task_specific_sample: mean=246.6ms, total=493.3ms, count=2, min=156.2ms, max=337.1ms + task_sampling: mean=339.4ms, total=339.4ms, count=1, min=339.4ms, max=339.4ms + task_sampling_failed: mean=160.3ms, total=160.3ms, count=1, min=160.3ms, max=160.3ms + scene_randomize: mean=1.1ms, total=2.2ms, count=2, min=0.8ms, max=1.4ms + mj_forward_sync: mean=310.8us, total=0.6ms, count=2, min=0.3ms, max=0.3ms + policy_setup: mean=20.4us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=2, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:07:53 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:53 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:53 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:53 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:53 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 14:07:53 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:53 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 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181455m [env.py: 870] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:53 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.90414127 -0.79199023 -0.1814555 ] yaw=-99.9deg [env.py: 1019] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -27.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -79.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.15283845 -1.37364995 -0.1814555 ] yaw=-24.4deg [env.py: 1019] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 57.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.54538652 -1.03354256 -0.1814555 ] yaw=-64.9deg [env.py: 1019] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:07:53 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 6 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=101.1ms, total=101.1ms [env.py: 1075] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.904, -0.792, -0.181) [env.py: 1079] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -99.9 deg [env.py: 1082] +05/18 14:07:53 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.940m [env.py: 1086] +05/18 14:07:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:53 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:07:53 INFO: [Worker 0] Worker 0 house 1 episode 43/72 collected=0/12 [pipeline.py: 1044] +05/18 14:07:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.068s [base_object_manipulation_planner_policy.py: 377] +05/18 14:07:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:07:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:07:54 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.717s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:07:54 INFO: [Worker 0] Feasible grasp found 390 (originally 83): w/ 0.813[m] 87.713[deg] [grasp_sample.py: 596] +05/18 14:07:55 ERROR: [Worker 0] Worker 0 house 1 episode 43 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:07:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:07:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:07:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:07:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:07:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:07:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:07:56 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.148m, effective arm-mount z=0.712m (base_body_z=-0.148m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.147829m [env.py: 870] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:07:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -127.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -66.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 167.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.54064613 -0.79919877 -0.14782941] yaw=-55.9deg [env.py: 1019] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -21.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.89140563 -0.70658631 -0.14782941] yaw=-60.3deg [env.py: 1019] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:07:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=148.5ms, total=148.5ms [env.py: 1075] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.541, -0.799, -0.148) [env.py: 1079] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -55.9 deg [env.py: 1082] +05/18 14:07:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.018m [env.py: 1086] +05/18 14:07:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:07:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:07:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:07:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:07:56 INFO: [Worker 0] Worker 0 house 1 episode 44/72 collected=0/12 [pipeline.py: 1044] +05/18 14:07:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 14:07:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:07:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:07:57 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:08:09 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.467s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:08:09 INFO: [Worker 0] Feasible grasp found 90 (originally 90): w/ 0.936[m] 43.299[deg] [grasp_sample.py: 596] +05/18 14:08:10 ERROR: [Worker 0] Worker 0 house 1 episode 44 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:08:11 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:08:11 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:08:11 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:08:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:11 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:08:11 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 14:08:11 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:08:11 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 14:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134153m [env.py: 870] +05/18 14:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:08:11 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.54955633 -0.79292285 -0.13415261] yaw=-75.7deg [env.py: 1019] +05/18 14:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 29.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 39.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -137.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 34.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:08:11 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=147.2ms, total=147.3ms [env.py: 1075] +05/18 14:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.550, -0.793, -0.134) [env.py: 1079] +05/18 14:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -75.7 deg [env.py: 1082] +05/18 14:08:11 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.020m [env.py: 1086] +05/18 14:08:11 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:08:11 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:08:11 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:08:12 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:08:12 INFO: [Worker 0] Worker 0 house 1 episode 45/72 collected=0/12 [pipeline.py: 1044] +05/18 14:08:12 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 14:08:12 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 14:08:12 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:08:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:08:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.411s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:08:16 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.660[m] 113.389[deg] [grasp_sample.py: 596] +05/18 14:08:16 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:08:17 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:08:17 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:08:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:08:44 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:08:48 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:08:50 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:09:14 INFO: [Worker 0] Worker 0 house 1 episode 45 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:09:26 INFO: [Worker 0] Saved videos eagerly for episode 12 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 14:09:26 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:09:26 INFO: [Worker 0] Preparing episode data: 269 timesteps [save_utils.py: 278] +05/18 14:09:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:09:34 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 14:09:34 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 8.19s (batch: 2.34s, save: 5.85s) [pipeline.py: 300] +05/18 14:09:35 INFO: [Worker 0] [PROFILE] Episode 45 house 1 success=True episode_total=0.94s: + episode_total: mean=33.03s, total=99.08s, count=3, min=1903.8ms, max=83502.0ms + sensor_polling: mean=195.9ms, total=52.50s, count=268, min=178.2ms, max=280.6ms + save_trajectories: mean=5.85s, total=5.85s, count=1, min=5853.4ms, max=5853.4ms + physics_step: mean=13.6ms, total=3.65s, count=268, min=10.7ms, max=16.5ms + save_batch_prep: mean=2.34s, total=2.34s, count=1, min=2337.0ms, max=2337.0ms + task_sampling: mean=313.9ms, total=941.7ms, count=3, min=293.6ms, max=324.3ms + task_specific_sample: mean=311.6ms, total=934.8ms, count=3, min=291.1ms, max=322.0ms + scene_randomize: mean=1.0ms, total=3.0ms, count=3, min=0.8ms, max=1.4ms + mj_forward_sync: mean=310.7us, total=0.9ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=13.1us, 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 14:09:36 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:09:36 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:09:36 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:36 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:09:36 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 14:09:36 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:09:36 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.159m, effective arm-mount z=0.701m (base_body_z=-0.159m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.159053m [env.py: 870] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:09:36 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 39.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 37.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 10.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -151.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -37.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.74419558 -0.89640297 -0.15905307] yaw=-98.6deg [env.py: 1019] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:09:36 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=147.0ms, total=147.1ms [env.py: 1075] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.744, -0.896, -0.159) [env.py: 1079] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -98.6 deg [env.py: 1082] +05/18 14:09:36 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.860m [env.py: 1086] +05/18 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:09:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:09:37 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:09:37 INFO: [Worker 0] Worker 0 house 1 episode 46/72 collected=0/12 [pipeline.py: 1044] +05/18 14:09:37 INFO: [Worker 0] Warmed up parallel IK solver in 0.062s [base_object_manipulation_planner_policy.py: 377] +05/18 14:09:37 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:09:37 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:09:37 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:09:38 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.115s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:09:38 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.748[m] 99.515[deg] [grasp_sample.py: 596] +05/18 14:09:38 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:09:38 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:09:38 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:09:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:09:47 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:48 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:49 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:50 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:54 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:09:54 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:09:54 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 14:09:54 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:09:54 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:09:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.740s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:09:55 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.573[m] 71.839[deg] [grasp_sample.py: 596] +05/18 14:09:55 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:09:55 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:09:55 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:09:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:09:59 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:00 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:01 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:02 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:03 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:03 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:10:03 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:10:03 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 14:10:03 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:03 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:10:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.080s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:10:04 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.573[m] 71.837[deg] [grasp_sample.py: 596] +05/18 14:10:04 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:10:04 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:10:04 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:05 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:06 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:07 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:08 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:09 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:10 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:11 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:11 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:10:11 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 3/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:10:11 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 14:10:11 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:12 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:10:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.886s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:10:12 INFO: [Worker 0] Feasible grasp found 175 (originally 175): w/ 0.573[m] 71.837[deg] [grasp_sample.py: 596] +05/18 14:10:13 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:10:13 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:10:13 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:14 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:15 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:16 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:17 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:18 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:19 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:20 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:20 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:10:20 INFO: [Worker 0] ❌ Max retries (3) exceeded. Task failed. [base_object_manipulation_planner_policy.py: 462] +05/18 14:10:20 INFO: [Worker 0] Worker 0 house 1 episode 46 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=False [pipeline.py: 1108] +05/18 14:10:20 INFO: [Worker 0] [PROFILE] Episode 46 house 1 success=False episode_total=0.34s: + episode_total: mean=44.26s, total=44.26s, count=1, min=44258.5ms, max=44258.5ms + sensor_polling: mean=191.6ms, total=14.37s, count=75, min=182.6ms, max=201.7ms + physics_step: mean=11.8ms, total=881.8ms, count=75, min=9.2ms, max=15.3ms + task_sampling: mean=337.1ms, total=337.1ms, count=1, min=337.1ms, max=337.1ms + task_specific_sample: mean=334.6ms, total=334.6ms, count=1, min=334.6ms, max=334.6ms + scene_randomize: mean=1.4ms, total=1.4ms, count=1, min=1.4ms, max=1.4ms + mj_forward_sync: mean=314.5us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + policy_setup: mean=13.9us, total=0.0ms, count=1, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:10:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:10:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:10:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:10:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:10:22 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 14:10:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:10:22 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 14:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.190805m [env.py: 870] +05/18 14:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:10:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -10.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -109.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.83098411 -0.82624178 -0.19080501] yaw=-63.7deg [env.py: 1019] +05/18 14:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -115.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -61.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:10:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=144.7ms, total=144.7ms [env.py: 1075] +05/18 14:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.831, -0.826, -0.191) [env.py: 1079] +05/18 14:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -63.7 deg [env.py: 1082] +05/18 14:10:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.913m [env.py: 1086] +05/18 14:10:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:22 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:10:22 INFO: [Worker 0] Worker 0 house 1 episode 47/72 collected=0/12 [pipeline.py: 1044] +05/18 14:10:22 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/18 14:10:22 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:10:22 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:22 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:10:27 INFO: [Worker 0] Feasibility-checked 256 grasps in 4.940s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:10:27 INFO: [Worker 0] Feasible grasp found 551 (originally 244): w/ 0.669[m] 91.130[deg] [grasp_sample.py: 596] +05/18 14:10:28 ERROR: [Worker 0] Worker 0 house 1 episode 47 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:10:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:10:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:10:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:10:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:10:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:10:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:10:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109094m [env.py: 870] +05/18 14:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:10:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 11.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -75.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 50.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 76.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -109.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.81292789 -0.7891626 -0.10909429] yaw=-71.1deg [env.py: 1019] +05/18 14:10:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:10:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=144.8ms, total=144.8ms [env.py: 1075] +05/18 14:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.813, -0.789, -0.109) [env.py: 1079] +05/18 14:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -71.1 deg [env.py: 1082] +05/18 14:10:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.952m [env.py: 1086] +05/18 14:10:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:10:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:10:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:10:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:10:30 INFO: [Worker 0] Worker 0 house 1 episode 48/72 collected=0/12 [pipeline.py: 1044] +05/18 14:10:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 14:10:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:10:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:10:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.949s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:10:32 INFO: [Worker 0] Feasible grasp found 51 (originally 51): w/ 0.768[m] 107.986[deg] [grasp_sample.py: 596] +05/18 14:10:32 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:10:32 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:10:32 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:38 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:39 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:40 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:41 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:42 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:43 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:44 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:44 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:10:44 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:10:44 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 14:10:44 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:44 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:10:50 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.757s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:10:50 INFO: [Worker 0] Feasible grasp found 63 (originally 63): w/ 0.682[m] 92.633[deg] [grasp_sample.py: 596] +05/18 14:10:50 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:10:50 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:10:50 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:10:51 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:1 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:52 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:2 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:53 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:3 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:54 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:4 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:55 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:5 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:56 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:6 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:57 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:7 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:58 INFO: [Worker 0] ⚠️ IK failed, holding current position, fails:8 [base_object_manipulation_planner_policy.py: 494] +05/18 14:10:58 INFO: [Worker 0] ❌ Too many sequential IK failures, triggering retry. [base_object_manipulation_planner_policy.py: 496] +05/18 14:10:58 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 2/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:10:58 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:10:58 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:10:58 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:04 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.794s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:04 INFO: [Worker 0] Feasible grasp found 63 (originally 63): w/ 0.678[m] 91.940[deg] [grasp_sample.py: 596] +05/18 14:11:04 ERROR: [Worker 0] Worker 0 house 1 episode 48 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:11:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:06 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:06 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.180351m [env.py: 870] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -20.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 8.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 28.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -98.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=143.8ms, total=143.9ms [env.py: 1105] +05/18 14:11:06 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:11:06 ERROR: [Worker 0] Worker 0 house 1 episode 49 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:11:07 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:07 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:07 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:07 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:07 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 14:11:07 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:07 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 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.133789m [env.py: 870] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:07 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -41.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.31902263 -1.195991 -0.13378933] yaw=-24.9deg [env.py: 1019] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 162.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.57191822 -0.93810477 -0.13378933] yaw=-60.7deg [env.py: 1019] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:07 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=145.5ms, total=145.5ms [env.py: 1075] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.319, -1.196, -0.134) [env.py: 1079] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -24.9 deg [env.py: 1082] +05/18 14:11:07 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.827m [env.py: 1086] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:08 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:08 INFO: [Worker 0] Worker 0 house 1 episode 50/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:08 INFO: [Worker 0] Warmed up parallel IK solver in 0.055s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:08 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 14:11:08 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:08 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:10 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.976s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:10 INFO: [Worker 0] Feasible grasp found 305 (originally 305): w/ 0.673[m] 104.133[deg] [grasp_sample.py: 596] +05/18 14:11:10 ERROR: [Worker 0] Worker 0 house 1 episode 50 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:11:12 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:12 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:12 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:12 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:12 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 14:11:12 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:12 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.145m, effective arm-mount z=0.715m (base_body_z=-0.145m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.145328m [env.py: 870] +05/18 14:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:12 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 75.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 39.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -6.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 35.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:12 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -1.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:12 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=142.4ms, total=142.4ms [env.py: 1105] +05/18 14:11:12 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:11:12 ERROR: [Worker 0] Worker 0 house 1 episode 51 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:11:13 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:13 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:13 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:13 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:13 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:11:13 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:13 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 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.187219m [env.py: 870] +05/18 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:13 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.0651923 -1.09760014 -0.1872185 ] yaw=-33.2deg [env.py: 1019] +05/18 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -153.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.3899008 -0.91091794 -0.1872185 ] yaw=-59.1deg [env.py: 1019] +05/18 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:11:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -145.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.15224832 -1.26636604 -0.1872185 ] yaw=-56.1deg [env.py: 1019] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 5 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=84.9ms, total=84.9ms [env.py: 1075] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.065, -1.098, -0.187) [env.py: 1079] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -33.2 deg [env.py: 1082] +05/18 14:11:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.088m [env.py: 1086] +05/18 14:11:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:14 INFO: [Worker 0] Worker 0 house 1 episode 52/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:14 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 14:11:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:16 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.876s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:11:16 ERROR: [Worker 0] Worker 0 house 1 episode 52 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:11:17 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:17 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:17 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:17 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:17 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 14:11:17 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:17 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.109m, effective arm-mount z=0.751m (base_body_z=-0.109m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.109118m [env.py: 870] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:17 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 21.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 13.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 82.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 62.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -47.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.01576481 -1.25057254 -0.10911753] yaw=-35.1deg [env.py: 1019] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:17 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=148.9ms, total=148.9ms [env.py: 1075] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.016, -1.251, -0.109) [env.py: 1079] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.1 deg [env.py: 1082] +05/18 14:11:17 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:17 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:17 INFO: [Worker 0] Worker 0 house 1 episode 53/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:18 INFO: [Worker 0] Warmed up parallel IK solver in 0.045s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:18 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 14:11:18 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:18 INFO: [Worker 0] Collision-checked 512 grasps in 0.067s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.932s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:11:20 ERROR: [Worker 0] Worker 0 house 1 episode 53 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:11:21 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:21 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:21 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:21 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:21 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 14:11:21 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:21 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 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.111498m [env.py: 870] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:21 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 7.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 71.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -171.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 0.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 169.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[-0.05686056 -1.33673308 -0.11149845] yaw=-23.7deg [env.py: 1019] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:21 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=146.9ms, total=146.9ms [env.py: 1075] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.057, -1.337, -0.111) [env.py: 1079] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.7 deg [env.py: 1082] +05/18 14:11:21 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.081m [env.py: 1086] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:21 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:21 INFO: [Worker 0] Worker 0 house 1 episode 54/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:21 INFO: [Worker 0] Warmed up parallel IK solver in 0.043s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:21 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 14:11:21 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:21 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:23 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.898s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:11:23 ERROR: [Worker 0] Worker 0 house 1 episode 54 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:11:25 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:11:25 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:11:25 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:25 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:11:25 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 14:11:25 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:11:25 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.176m, effective arm-mount z=0.684m (base_body_z=-0.176m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.176125m [env.py: 870] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:11:25 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 76.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 12.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 2.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -67.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.7763605 -0.81125735 -0.17612502] yaw=-78.7deg [env.py: 1019] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.39879224 -0.99985405 -0.17612502] yaw=-38.1deg [env.py: 1019] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.36710621 -1.06474296 -0.17612502] yaw=-68.0deg [env.py: 1019] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:11:25 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 9 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=137.7ms, total=137.7ms [env.py: 1075] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.776, -0.811, -0.176) [env.py: 1079] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -78.7 deg [env.py: 1082] +05/18 14:11:25 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.936m [env.py: 1086] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:11:25 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:11:25 INFO: [Worker 0] Worker 0 house 1 episode 55/72 collected=0/12 [pipeline.py: 1044] +05/18 14:11:25 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 14:11:25 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 14:11:25 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:11:25 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:11:26 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.101s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:11:26 INFO: [Worker 0] Feasible grasp found 9 (originally 9): w/ 0.655[m] 83.785[deg] [grasp_sample.py: 596] +05/18 14:11:26 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:11:27 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:11:27 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:11:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:11:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:12:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:12:25 INFO: [Worker 0] Worker 0 house 1 episode 55 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:12:37 INFO: [Worker 0] Saved videos eagerly for episode 13 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 14:12:37 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:12:37 INFO: [Worker 0] Preparing episode data: 266 timesteps [save_utils.py: 278] +05/18 14:12:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:12:46 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 14:12:46 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 8.43s (batch: 2.57s, save: 5.86s) [pipeline.py: 300] +05/18 14:12:46 INFO: [Worker 0] [PROFILE] Episode 55 house 1 success=True episode_total=2.18s: + episode_total: mean=14.75s, total=132.75s, count=9, min=148.7ms, max=81241.0ms + sensor_polling: mean=194.5ms, total=59.90s, count=308, min=173.7ms, max=342.1ms + save_trajectories: mean=5.86s, total=5.86s, count=1, min=5859.6ms, max=5859.6ms + physics_step: mean=14.0ms, total=4.30s, count=308, min=9.4ms, max=18.5ms + save_batch_prep: mean=2.57s, total=2.57s, count=1, min=2573.2ms, max=2573.2ms + task_specific_sample: mean=273.5ms, total=2.46s, count=9, min=146.1ms, max=325.2ms + task_sampling: mean=311.9ms, total=2.18s, count=7, min=255.6ms, max=327.8ms + task_sampling_failed: mean=149.6ms, total=299.2ms, count=2, min=148.7ms, max=150.5ms + scene_randomize: mean=807.8us, total=7.3ms, count=9, min=0.7ms, max=0.9ms + mj_forward_sync: mean=309.6us, total=2.8ms, count=9, min=0.3ms, max=0.3ms + policy_setup: mean=12.6us, total=0.1ms, count=7, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=9, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:12:48 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:12:48 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:12:48 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:48 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:12:48 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:12:48 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:12:48 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.171m, effective arm-mount z=0.689m (base_body_z=-0.171m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.171007m [env.py: 870] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:12:48 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 19.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -28.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -153.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -103.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -33.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.24272392 -1.31912256 -0.17100743] yaw=-34.7deg [env.py: 1019] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:12:48 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=156.7ms, total=156.7ms [env.py: 1075] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.243, -1.319, -0.171) [env.py: 1079] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -34.7 deg [env.py: 1082] +05/18 14:12:48 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.818m [env.py: 1086] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:12:48 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:12:48 INFO: [Worker 0] Worker 0 house 1 episode 56/72 collected=0/12 [pipeline.py: 1044] +05/18 14:12:48 INFO: [Worker 0] Warmed up parallel IK solver in 0.065s [base_object_manipulation_planner_policy.py: 377] +05/18 14:12:48 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 14:12:48 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:12:48 INFO: [Worker 0] Collision-checked 512 grasps in 0.061s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:13:00 INFO: [Worker 0] Feasibility-checked 256 grasps in 12.108s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:13:00 INFO: [Worker 0] Feasible grasp found 260 (originally 260): w/ 0.555[m] 76.834[deg] [grasp_sample.py: 596] +05/18 14:13:00 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:13:00 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:13:00 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:13:01 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:13:22 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:13:26 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:13:28 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:13:52 INFO: [Worker 0] Worker 0 house 1 episode 56 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:14:03 INFO: [Worker 0] Saved videos eagerly for episode 14 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 14:14:03 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:14:03 INFO: [Worker 0] Preparing episode data: 243 timesteps [save_utils.py: 278] +05/18 14:14:11 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:14:11 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 14:14:11 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 7.92s (batch: 2.38s, save: 5.54s) [pipeline.py: 300] +05/18 14:14:11 INFO: [Worker 0] [PROFILE] Episode 56 house 1 success=True episode_total=0.35s: + episode_total: mean=83.54s, total=83.54s, count=1, min=83543.9ms, max=83543.9ms + sensor_polling: mean=193.6ms, total=46.84s, count=242, min=184.8ms, max=364.8ms + save_trajectories: mean=5.54s, total=5.54s, count=1, min=5540.1ms, max=5540.1ms + physics_step: mean=13.9ms, total=3.37s, count=242, min=11.5ms, max=15.6ms + save_batch_prep: mean=2.38s, total=2.38s, count=1, min=2377.8ms, max=2377.8ms + task_sampling: mean=348.0ms, total=348.0ms, count=1, min=348.0ms, max=348.0ms + task_specific_sample: mean=345.2ms, total=345.2ms, count=1, min=345.2ms, max=345.2ms + scene_randomize: mean=1.7ms, total=1.7ms, count=1, min=1.7ms, max=1.7ms + mj_forward_sync: mean=324.4us, total=0.3ms, count=1, min=0.3ms, max=0.3ms + 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=1, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +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=-0.180m, effective arm-mount z=0.680m (base_body_z=-0.180m, 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: -0.179808m [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 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 171.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -170.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 78.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 27.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:13 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 64.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:13 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=142.4ms, total=142.4ms [env.py: 1105] +05/18 14:14:13 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:14:13 ERROR: [Worker 0] Worker 0 house 1 episode 57 task sampling error: Failed to place robot near object: drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 [pipeline.py: 1063] +05/18 14:14:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:14 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 14:14:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.141m, effective arm-mount z=0.719m (base_body_z=-0.141m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.141078m [env.py: 870] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -175.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -11.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -80.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -16.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -24.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.19890678 -1.06535032 -0.1410779 ] yaw=-38.9deg [env.py: 1019] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.88727451 -0.66184153 -0.1410779 ] yaw=-84.5deg [env.py: 1019] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:14 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=143.7ms, total=143.7ms [env.py: 1075] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.199, -1.065, -0.141) [env.py: 1079] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -38.9 deg [env.py: 1082] +05/18 14:14:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.004m [env.py: 1086] +05/18 14:14:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:14 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:14 INFO: [Worker 0] Worker 0 house 1 episode 58/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:14 INFO: [Worker 0] Warmed up parallel IK solver in 0.067s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:14 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 14:14:14 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:14 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.199s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:17 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.764[m] 57.174[deg] [grasp_sample.py: 596] +05/18 14:14:17 ERROR: [Worker 0] Worker 0 house 1 episode 58 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:14:19 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:19 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:19 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:19 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:19 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 14:14:19 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:19 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.197m, effective arm-mount z=0.663m (base_body_z=-0.197m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.197103m [env.py: 870] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:19 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 4.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: pos=[ 0.71219128 -0.88582879 -0.197103 ] yaw=-64.3deg [env.py: 1019] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 81.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 79.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.46870015 -0.91294889 -0.197103 ] yaw=-66.0deg [env.py: 1019] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:19 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=143.1ms, total=143.2ms [env.py: 1075] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.712, -0.886, -0.197) [env.py: 1079] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -64.3 deg [env.py: 1082] +05/18 14:14:19 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.878m [env.py: 1086] +05/18 14:14:19 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:19 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:19 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:19 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:19 INFO: [Worker 0] Worker 0 house 1 episode 59/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:19 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:14:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 0.882s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:20 INFO: [Worker 0] Feasible grasp found 45 (originally 45): w/ 0.612[m] 85.422[deg] [grasp_sample.py: 596] +05/18 14:14:21 ERROR: [Worker 0] Worker 0 house 1 episode 59 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:14:22 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:22 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:22 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:22 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:22 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:22 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:22 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:22 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 14:14:22 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:22 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 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.154879m [env.py: 870] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:22 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 89.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -16.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -97.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -143.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:22 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 74.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:22 INFO: [Worker 0] [PLACE_ROBOT_NEAR] ❌ Failed after 10 attempts | map=0.0ms, retries=138.6ms, total=138.6ms [env.py: 1105] +05/18 14:14:22 INFO: [Worker 0] [TASK SAMPLING] Failed to place robot near 'drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0' [opening_task_samplers.py: 302] +05/18 14:14:22 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 14:14:24 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:14:24 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:14:24 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:14:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:24 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:14:24 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 14:14:24 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:14:24 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 14:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.188889m [env.py: 870] +05/18 14:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:14:24 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.15769877 -1.3810251 -0.18888944] yaw=-23.1deg [env.py: 1019] +05/18 14:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -139.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -142.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -140.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -159.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:14:24 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=148.4ms, total=148.4ms [env.py: 1075] +05/18 14:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.158, -1.381, -0.189) [env.py: 1079] +05/18 14:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -23.1 deg [env.py: 1082] +05/18 14:14:24 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.866m [env.py: 1086] +05/18 14:14:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:14:24 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:14:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:14:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:14:24 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:14:24 INFO: [Worker 0] Worker 0 house 1 episode 61/72 collected=0/12 [pipeline.py: 1044] +05/18 14:14:24 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 14:14:24 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 14:14:24 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:14:24 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:14:34 INFO: [Worker 0] Feasibility-checked 256 grasps in 10.256s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:14:34 INFO: [Worker 0] Feasible grasp found 178 (originally 178): w/ 0.513[m] 71.063[deg] [grasp_sample.py: 596] +05/18 14:14:35 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:14:35 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:14:35 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:14:56 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:14:59 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:15:01 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:15:25 INFO: [Worker 0] Worker 0 house 1 episode 61 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:15:35 INFO: [Worker 0] Saved videos eagerly for episode 15 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 14:15:35 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:15:35 INFO: [Worker 0] Preparing episode data: 240 timesteps [save_utils.py: 278] +05/18 14:15:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:15:43 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 14:15:43 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 7.65s (batch: 2.18s, save: 5.47s) [pipeline.py: 300] +05/18 14:15:44 INFO: [Worker 0] [PROFILE] Episode 61 house 1 success=True episode_total=0.97s: + episode_total: mean=17.10s, total=85.50s, count=5, min=145.2ms, max=79690.4ms + sensor_polling: mean=191.5ms, total=45.76s, count=239, min=181.4ms, max=366.0ms + save_trajectories: mean=5.47s, total=5.47s, count=1, min=5470.8ms, max=5470.8ms + physics_step: mean=14.0ms, total=3.34s, count=239, min=10.6ms, max=15.9ms + save_batch_prep: mean=2.18s, total=2.18s, count=1, min=2178.6ms, max=2178.6ms + task_specific_sample: mean=251.3ms, total=1.26s, count=5, min=142.5ms, max=334.4ms + task_sampling: mean=324.5ms, total=973.6ms, count=3, min=316.6ms, max=336.7ms + task_sampling_failed: mean=147.9ms, total=295.8ms, count=2, min=145.2ms, max=150.6ms + scene_randomize: mean=972.8us, total=4.9ms, count=5, min=0.8ms, max=1.5ms + mj_forward_sync: mean=306.4us, total=1.5ms, count=5, min=0.3ms, max=0.3ms + policy_setup: mean=16.2us, total=0.0ms, count=3, 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 14:15:45 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:15:45 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:15:45 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:15:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:45 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:15:45 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 14:15:45 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:15:45 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 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.146458m [env.py: 870] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:15:45 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.2863696 -0.88870421 -0.14645762] yaw=-35.9deg [env.py: 1019] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -45.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 86.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -5.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -102.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.49486997 -0.74472271 -0.14645762] yaw=-82.2deg [env.py: 1019] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:15:45 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=152.0ms, total=152.0ms [env.py: 1075] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.286, -0.889, -0.146) [env.py: 1079] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -35.9 deg [env.py: 1082] +05/18 14:15:45 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.072m [env.py: 1086] +05/18 14:15:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:45 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:15:45 INFO: [Worker 0] Worker 0 house 1 episode 62/72 collected=0/12 [pipeline.py: 1044] +05/18 14:15:45 INFO: [Worker 0] Warmed up parallel IK solver in 0.061s [base_object_manipulation_planner_policy.py: 377] +05/18 14:15:45 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:15:45 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:45 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:47 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.928s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:15:47 ERROR: [Worker 0] Worker 0 house 1 episode 62 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:15:49 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:15:49 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:15:49 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:49 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:15:49 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 14:15:49 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:15:49 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 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.179554m [env.py: 870] +05/18 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:15:49 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -25.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -160.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -3.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 167.4° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.11066804 -1.10194662 -0.1795543 ] yaw=-45.1deg [env.py: 1019] +05/18 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:15:49 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=141.8ms, total=141.8ms [env.py: 1075] +05/18 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.111, -1.102, -0.180) [env.py: 1079] +05/18 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -45.1 deg [env.py: 1082] +05/18 14:15:49 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.049m [env.py: 1086] +05/18 14:15:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:49 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:15:49 INFO: [Worker 0] Worker 0 house 1 episode 63/72 collected=0/12 [pipeline.py: 1044] +05/18 14:15:49 INFO: [Worker 0] Warmed up parallel IK solver in 0.049s [base_object_manipulation_planner_policy.py: 377] +05/18 14:15:49 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 14:15:49 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:49 INFO: [Worker 0] Collision-checked 512 grasps in 0.057s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:51 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.969s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:15:51 ERROR: [Worker 0] Worker 0 house 1 episode 63 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:15:52 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:15:52 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:15:52 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:15:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:52 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:15:52 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:15:52 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:15:52 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.182m, effective arm-mount z=0.678m (base_body_z=-0.182m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.181931m [env.py: 870] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:15:52 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 177.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -24.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -83.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.9021811 -0.6772622 -0.18193123] yaw=-82.1deg [env.py: 1019] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -177.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.52977557 -1.02021683 -0.18193123] yaw=-36.6deg [env.py: 1019] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.07427548 -1.0929063 -0.18193123] yaw=-49.4deg [env.py: 1019] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:15:52 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=149.5ms, total=149.5ms [env.py: 1075] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.902, -0.677, -0.182) [env.py: 1079] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -82.1 deg [env.py: 1082] +05/18 14:15:52 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.055m [env.py: 1086] +05/18 14:15:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:52 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:53 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:15:53 INFO: [Worker 0] Worker 0 house 1 episode 64/72 collected=0/12 [pipeline.py: 1044] +05/18 14:15:53 INFO: [Worker 0] Warmed up parallel IK solver in 0.048s [base_object_manipulation_planner_policy.py: 377] +05/18 14:15:53 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:15:53 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:53 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:55 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.927s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:15:55 ERROR: [Worker 0] Worker 0 house 1 episode 64 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:15:56 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:15:56 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:15:56 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:56 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:15:56 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:15:56 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:15:56 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 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.177574m [env.py: 870] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:15:56 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.5150566 -0.96146236 -0.17757378] yaw=-52.1deg [env.py: 1019] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -67.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing 81.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -6.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 32.2° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.31226198 -1.21323792 -0.17757378] yaw=-18.0deg [env.py: 1019] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:15:56 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=145.0ms, total=145.1ms [env.py: 1075] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.515, -0.961, -0.178) [env.py: 1079] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -52.1 deg [env.py: 1082] +05/18 14:15:56 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.884m [env.py: 1086] +05/18 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:15:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:15:56 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:15:56 INFO: [Worker 0] Worker 0 house 1 episode 65/72 collected=0/12 [pipeline.py: 1044] +05/18 14:15:56 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 14:15:56 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:15:56 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:15:56 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:15:57 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.007s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:15:57 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.681[m] 72.165[deg] [grasp_sample.py: 596] +05/18 14:15:57 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:15:58 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:15:58 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:15:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:16:24 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:28 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:16:30 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:52 INFO: [Worker 0] Object is not in grasp! 0.00000 < 0.002000 [base_object_manipulation_planner_policy.py: 161] +05/18 14:16:52 INFO: [Worker 0] 🔄 Failure detected! Initiating retry 1/3 [base_object_manipulation_planner_policy.py: 466] +05/18 14:16:52 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 14:16:52 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:16:52 INFO: [Worker 0] Collision-checked 512 grasps in 0.123s, found 95 non-colliding grasps [grasp_sample.py: 520] +05/18 14:16:52 INFO: [Worker 0] Feasibility-checked 95 grasps in 0.311s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:16:52 INFO: [Worker 0] Feasible grasp found 121 (originally 121): w/ 0.035[m] 4.747[deg] [grasp_sample.py: 596] +05/18 14:16:52 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:16:52 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:16:52 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:54 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:16:58 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:17:00 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:17:01 INFO: [Worker 0] Worker 0 house 1 episode 65 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:17:14 INFO: [Worker 0] Saved videos eagerly for episode 16 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 14:17:14 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:17:14 INFO: [Worker 0] Preparing episode data: 301 timesteps [save_utils.py: 278] +05/18 14:17:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:17:24 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 14:17:24 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 9.45s (batch: 2.60s, save: 6.85s) [pipeline.py: 300] +05/18 14:17:24 INFO: [Worker 0] [PROFILE] Episode 65 house 1 success=True episode_total=1.29s: + episode_total: mean=23.85s, total=95.39s, count=4, min=2353.8ms, max=88245.3ms + sensor_polling: mean=190.7ms, total=57.21s, count=300, min=180.2ms, max=309.5ms + save_trajectories: mean=6.85s, total=6.85s, count=1, min=6849.0ms, max=6849.0ms + physics_step: mean=13.5ms, total=4.06s, count=300, min=10.7ms, max=22.1ms + save_batch_prep: mean=2.60s, total=2.60s, count=1, min=2596.5ms, max=2596.5ms + task_sampling: mean=322.1ms, total=1.29s, count=4, min=313.0ms, max=339.1ms + task_specific_sample: mean=320.0ms, total=1.28s, count=4, min=311.1ms, max=336.7ms + scene_randomize: mean=958.0us, total=3.8ms, count=4, min=0.8ms, max=1.4ms + mj_forward_sync: mean=317.2us, total=1.3ms, count=4, min=0.3ms, max=0.3ms + policy_setup: mean=12.6us, total=0.1ms, count=4, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=4, min=0.0ms, max=0.0ms [profiler_utils.py: 380] +05/18 14:17:26 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:26 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:26 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:26 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:26 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 14:17:26 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:26 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 14:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.101295m [env.py: 870] +05/18 14:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:26 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing 54.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -65.8° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -130.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 88.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.35504553 -0.83107882 -0.10129522] yaw=-51.1deg [env.py: 1019] +05/18 14:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:26 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 1 collision-free, 1 visibility checks | map=0.0ms, retries=151.0ms, total=151.1ms [env.py: 1075] +05/18 14:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.355, -0.831, -0.101) [env.py: 1079] +05/18 14:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -51.1 deg [env.py: 1082] +05/18 14:17:26 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.079m [env.py: 1086] +05/18 14:17:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:26 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:26 INFO: [Worker 0] Worker 0 house 1 episode 66/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:26 INFO: [Worker 0] Warmed up parallel IK solver in 0.052s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:26 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 14:17:26 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:26 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:28 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.884s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:17:28 ERROR: [Worker 0] Worker 0 house 1 episode 66 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:17:29 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:29 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:29 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:29 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:29 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:17:29 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:29 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.123m, effective arm-mount z=0.737m (base_body_z=-0.123m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.123082m [env.py: 870] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:29 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -61.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:29 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -145.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -120.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 69.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing 15.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 6: pos=[ 0.38808934 -0.91597251 -0.12308204] yaw=-37.4deg [env.py: 1019] +05/18 14:17:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 8: pos=[ 0.22904915 -1.26559416 -0.12308204] yaw=-60.9deg [env.py: 1019] +05/18 14:17:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:17:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:30 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=153.5ms, total=153.5ms [env.py: 1075] +05/18 14:17:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.388, -0.916, -0.123) [env.py: 1079] +05/18 14:17:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -37.4 deg [env.py: 1082] +05/18 14:17:30 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.990m [env.py: 1086] +05/18 14:17:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:30 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:30 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:30 INFO: [Worker 0] Worker 0 house 1 episode 67/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:30 INFO: [Worker 0] Warmed up parallel IK solver in 0.046s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:30 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:17:30 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:30 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:32 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.971s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:17:32 INFO: [Worker 0] Feasible grasp found 65 (originally 65): w/ 0.874[m] 67.291[deg] [grasp_sample.py: 596] +05/18 14:17:33 ERROR: [Worker 0] Worker 0 house 1 episode 67 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:17:34 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:17:34 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:17:34 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:34 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:17:34 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 14:17:34 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:17:34 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.157m, effective arm-mount z=0.703m (base_body_z=-0.157m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.157370m [env.py: 870] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:17:34 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: pos=[ 0.4632107 -1.00636615 -0.15736968] yaw=-42.9deg [env.py: 1019] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -162.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -1.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 20.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: bearing -170.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.63979056 -0.77015978 -0.15736968] yaw=-99.9deg [env.py: 1019] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:17:34 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=151.1ms, total=151.1ms [env.py: 1075] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.463, -1.006, -0.157) [env.py: 1079] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -42.9 deg [env.py: 1082] +05/18 14:17:34 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.873m [env.py: 1086] +05/18 14:17:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:17:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:17:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:17:34 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:17:34 INFO: [Worker 0] Worker 0 house 1 episode 68/72 collected=0/12 [pipeline.py: 1044] +05/18 14:17:34 INFO: [Worker 0] Warmed up parallel IK solver in 0.050s [base_object_manipulation_planner_policy.py: 377] +05/18 14:17:34 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 14:17:34 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:17:35 INFO: [Worker 0] Collision-checked 512 grasps in 0.055s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:17:37 INFO: [Worker 0] Feasibility-checked 256 grasps in 2.004s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:17:37 INFO: [Worker 0] Feasible grasp found 67 (originally 67): w/ 0.732[m] 107.779[deg] [grasp_sample.py: 596] +05/18 14:17:37 INFO: [Worker 0] Planning completed. w/ 3 steps + [open_close_planner_policy.py: 225] +05/18 14:17:37 INFO: [Worker 0] Opening gripper... [base_object_manipulation_planner_policy.py: 299] +05/18 14:17:37 INFO: [Worker 0] Moving to pregrasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:17:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/18 14:18:10 INFO: [Worker 0] Moving to grasp [base_object_manipulation_planner_policy.py: 112] +05/18 14:18:14 INFO: [Worker 0] Closing gripper... [base_object_manipulation_planner_policy.py: 301] +05/18 14:18:16 INFO: [Worker 0] Moving to lift [base_object_manipulation_planner_policy.py: 112] +05/18 14:18:41 INFO: [Worker 0] Worker 0 house 1 episode 68 object drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0 completed with success=True [pipeline.py: 1108] +05/18 14:18:54 INFO: [Worker 0] Saved videos eagerly for episode 17 to /scr/ravenh/dresser/sim_chunks/chunk_039 [pipeline.py: 1174] +05/18 14:18:54 INFO: [Worker 0] Batching and saving trajectory data for chunk_039 batch 1/1: 1 episodes [pipeline.py: 238] +05/18 14:18:54 INFO: [Worker 0] Preparing episode data: 293 timesteps [save_utils.py: 278] +05/18 14:19:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 741] +05/18 14:19:04 INFO: [Worker 0] Saved 1 episodes to: /scr/ravenh/dresser/sim_chunks/chunk_039 [save_utils.py: 785] +05/18 14:19:04 INFO: [Worker 0] Successfully saved trajectory data for chunk_039 in 9.44s (batch: 2.65s, save: 6.79s) [pipeline.py: 300] +05/18 14:19:04 INFO: [Worker 0] [PROFILE] Episode 68 house 1 success=True episode_total=1.00s: + episode_total: mean=31.85s, total=95.55s, count=3, min=2346.2ms, max=90016.8ms + sensor_polling: mean=200.5ms, total=58.55s, count=292, min=180.4ms, max=391.5ms + save_trajectories: mean=6.79s, total=6.79s, count=1, min=6791.9ms, max=6791.9ms + physics_step: mean=13.7ms, total=4.01s, count=292, min=10.7ms, max=16.9ms + save_batch_prep: mean=2.65s, total=2.65s, count=1, min=2647.3ms, max=2647.3ms + task_sampling: mean=333.0ms, total=998.9ms, count=3, min=322.6ms, max=346.9ms + task_specific_sample: mean=330.6ms, total=991.9ms, count=3, min=320.5ms, max=344.4ms + scene_randomize: mean=1.0ms, total=3.1ms, count=3, min=0.8ms, max=1.4ms + mj_forward_sync: mean=316.6us, total=0.9ms, count=3, min=0.3ms, max=0.3ms + policy_setup: mean=15.1us, 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 14:19:06 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:06 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:06 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:06 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:06 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 14:19:06 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:06 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 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.191299m [env.py: 870] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:06 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -114.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing 177.1° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -123.9° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing -131.0° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.25485228 -1.18711213 -0.19129922] yaw=-21.1deg [env.py: 1019] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 7: pos=[ 0.35596546 -1.11836278 -0.19129922] yaw=-22.0deg [env.py: 1019] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:06 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=166.6ms, total=166.7ms [env.py: 1075] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.255, -1.187, -0.191) [env.py: 1079] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -21.1 deg [env.py: 1082] +05/18 14:19:06 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 0.883m [env.py: 1086] +05/18 14:19:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:06 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:06 INFO: [Worker 0] Worker 0 house 1 episode 69/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:06 INFO: [Worker 0] Warmed up parallel IK solver in 0.063s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:06 INFO: [Worker 0] Loading grasps from: /svl/u/ravenh/renderscale/molmospaces/assets/scenes/ithor_minimal_dresser/grasps/Drawer_b7714dd0/Drawer_b7714dd0_joint_grasps_filtered.npz [grasp_sample.py: 202] +05/18 14:19:06 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:06 INFO: [Worker 0] Collision-checked 512 grasps in 0.056s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:12 INFO: [Worker 0] Feasibility-checked 256 grasps in 5.996s, found feasible grasp: True [grasp_sample.py: 557] +05/18 14:19:12 INFO: [Worker 0] Feasible grasp found 42 (originally 42): w/ 0.802[m] 90.839[deg] [grasp_sample.py: 596] +05/18 14:19:13 ERROR: [Worker 0] Worker 0 house 1 episode 69 rollout error: IK failed for pregrasp pose [pipeline.py: 1242] +05/18 14:19:14 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:14 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:14 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:14 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:14 INFO: [Worker 0] [OPEN] sorted candidate joints for drawer_372d9ee41d70550432c30a66a6e5b331_1_0_0: ['drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0'] [opening_task_samplers.py: 195] +05/18 14:19:14 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:14 INFO: [Worker 0] [ROBOT BASE Z] sampled delta=-0.134m, effective arm-mount z=0.726m (base_body_z=-0.134m, pedestal_h=0.860m) [opening_task_samplers.py: 273] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.134434m [env.py: 870] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:14 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -40.6° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -122.3° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -167.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: bearing 73.5° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[-0.01634704 -1.21850059 -0.13443441] yaw=-54.3deg [env.py: 1019] +05/18 14:19:14 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 9: pos=[ 0.22186737 -1.28773168 -0.13443441] yaw=-39.0deg [env.py: 1019] +05/18 14:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 10: pos=[ 0.89485802 -0.69225938 -0.13443441] yaw=-60.1deg [env.py: 1019] +05/18 14:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #3 [env.py: 1029] +05/18 14:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:15 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 3 collision-free, 1 visibility checks | map=0.0ms, retries=151.5ms, total=151.6ms [env.py: 1075] +05/18 14:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (-0.016, -1.219, -0.134) [env.py: 1079] +05/18 14:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -54.3 deg [env.py: 1082] +05/18 14:19:15 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.094m [env.py: 1086] +05/18 14:19:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:15 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:15 INFO: [Worker 0] Worker 0 house 1 episode 70/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:15 INFO: [Worker 0] Warmed up parallel IK solver in 0.042s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:15 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 14:19:15 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:15 INFO: [Worker 0] Collision-checked 512 grasps in 0.058s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:17 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.842s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:19:17 ERROR: [Worker 0] Worker 0 house 1 episode 70 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:19:18 INFO: [Worker 0] [HOUSE] Reusing loaded scene for house index 1 [task_sampler.py: 1090] +05/18 14:19:18 INFO: [Worker 0] Scene setup completed. + [pick_task_sampler.py: 260] +05/18 14:19:18 INFO: [Worker 0] Found 3 articulable objects in the scene for opening task sampling [opening_task_samplers.py: 80] +05/18 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:18 WARNING: [Worker 0] No image features for Drawer_b7714dd0, ignoring. [object_manager.py: 1078] +05/18 14:19:18 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 14:19:18 INFO: [Worker 0] [OPEN] using fixed_joint_index=0 -> drawer_372d9ee41d70550432c30a66a6e5b331_1_1_0_joint_0 [opening_task_samplers.py: 204] +05/18 14:19:18 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 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Starting robot placement near target (max_tries=10) [env.py: 836] +05/18 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Target point: (0.950, -1.731, 0.725) [env.py: 845] +05/18 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Robot Z height to preserve: -0.102813m [env.py: 870] +05/18 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Sampling radius range: 0.800m - 1.100m [env.py: 871] +05/18 14:19:18 DEBUG: [Worker 0] [HEIGHT_AWARE_THORMAP] Using cached map [env.py: 777] +05/18 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found 17218 free points within sampling radius [env.py: 907] +05/18 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 1: bearing -43.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 2: bearing -49.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 3: bearing -44.7° outside wedge [91.7°, 160.4°], rejecting... [env.py: 969] +05/18 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 4: pos=[ 0.75795478 -0.7061611 -0.10281286] yaw=-89.4deg [env.py: 1019] +05/18 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #1 [env.py: 1029] +05/18 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Attempt 5: pos=[ 0.46079899 -0.8193648 -0.10281286] yaw=-66.3deg [env.py: 1019] +05/18 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Found collision-free pose #2 [env.py: 1029] +05/18 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Visibility constraints satisfied: {} [env.py: 1068] +05/18 14:19:18 INFO: [Worker 0] [PLACE_ROBOT_NEAR] Success after 10 samples, 2 collision-free, 1 visibility checks | map=0.0ms, retries=150.3ms, total=150.3ms [env.py: 1075] +05/18 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final position: (0.758, -0.706, -0.103) [env.py: 1079] +05/18 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Final orientation: -89.4 deg [env.py: 1082] +05/18 14:19:18 DEBUG: [Worker 0] [PLACE_ROBOT_NEAR] Distance to target: 1.043m [env.py: 1086] +05/18 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/18 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Set up MJCF camera 'wrist_camera' (MJCF: robot_0/gripper/wrist_camera) [camera_manager.py: 438] +05/18 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/18 14:19:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/18 14:19:18 INFO: [Worker 0] Sampled task 'Open the drawer' [task_sampler.py: 1143] +05/18 14:19:18 INFO: [Worker 0] Worker 0 house 1 episode 71/72 collected=0/12 [pipeline.py: 1044] +05/18 14:19:19 INFO: [Worker 0] Warmed up parallel IK solver in 0.044s [base_object_manipulation_planner_policy.py: 377] +05/18 14:19:19 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 14:19:19 INFO: [Worker 0] Loaded 614 total grasp poses (including flipped versions) [grasp_sample.py: 443] +05/18 14:19:19 INFO: [Worker 0] Collision-checked 512 grasps in 0.054s, found 512 non-colliding grasps [grasp_sample.py: 520] +05/18 14:19:20 INFO: [Worker 0] Feasibility-checked 256 grasps in 1.891s, found feasible grasp: False [grasp_sample.py: 557] +05/18 14:19:20 ERROR: [Worker 0] Worker 0 house 1 episode 71 rollout error: No feasible grasp found [pipeline.py: 1242] +05/18 14:19:22 WARNING: [Worker 0] No trajectory data to save for chunk_039 [pipeline.py: 234] +05/18 14:19:22 WARNING: [Worker 0] No trajectory data to save for chunk_039 [pipeline.py: 234] +05/18 14:19:22 INFO: [Worker 0] Worker 0 completed house 1: 18/20 successful episodes [pipeline.py: 1323] +05/18 14:19:22 INFO: [Worker 0] [PROFILE] House 1 complete: 18/20 successful, 20 episodes, total_time=3515.90s + House averages: + episode_total: mean=29.37s, total=2114.67s, count=72, min=145.2ms, max=115529.0ms + sensor_polling: mean=193.7ms, total=1107.44s, count=5718, min=169.9ms, max=391.5ms + save_trajectories: mean=6.41s, total=115.29s, count=18, min=5470.8ms, max=7008.0ms + physics_step: mean=13.6ms, total=77.56s, count=5718, min=9.2ms, max=30.3ms + save_batch_prep: mean=2.54s, total=45.68s, count=18, min=2178.6ms, max=2835.2ms + task_sampling: mean=378.0ms, total=23.81s, count=63, min=254.8ms, max=3931.7ms + task_specific_sample: mean=297.4ms, total=21.41s, count=72, min=142.5ms, max=357.9ms + scene_load: mean=3.59s, total=3.59s, count=1, min=3592.4ms, max=3592.4ms + scene_env_create: mean=2.16s, total=2.16s, count=1, min=2160.5ms, max=2160.5ms + task_sampling_failed: mean=151.6ms, total=1.36s, count=9, min=145.2ms, max=160.3ms + scene_compile: mean=879.4ms, total=879.4ms, count=1, min=879.4ms, max=879.4ms + compile_mujoco: mean=619.6ms, total=619.6ms, count=1, min=619.6ms, max=619.6ms + scene_asset_install: mean=482.6ms, total=482.6ms, count=1, min=482.6ms, max=482.6ms + asset_install_objects: mean=422.4ms, total=422.4ms, count=1, min=422.4ms, max=422.4ms + compile_xml_load: mean=206.8ms, total=206.8ms, count=1, min=206.8ms, max=206.8ms + scene_randomize: mean=1.0ms, total=72.8ms, count=72, min=0.7ms, max=2.5ms + scene_init: mean=69.6ms, total=69.6ms, count=1, min=69.6ms, max=69.6ms + asset_install_grasps: mean=56.7ms, total=56.7ms, count=1, min=56.7ms, max=56.7ms + compile_aux_objects: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms + compile_aux_policy_objects: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms + mj_forward_sync: mean=310.8us, total=22.4ms, count=72, min=0.3ms, max=0.3ms + compile_robot_add: mean=5.1ms, total=5.1ms, count=1, min=5.1ms, max=5.1ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=14.4us, total=0.9ms, count=63, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 407] +05/18 14:19:22 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 512] +05/18 14:19:22 INFO: [Worker 0] [PROFILE] Worker complete: 1 houses, 20 episodes, total_time=3515.90s + Worker averages: + episode_total: mean=29.37s, total=2114.67s, count=72, min=145.2ms, max=115529.0ms + sensor_polling: mean=193.7ms, total=1107.44s, count=5718, min=169.9ms, max=391.5ms + save_trajectories: mean=6.41s, total=115.29s, count=18, min=5470.8ms, max=7008.0ms + physics_step: mean=13.6ms, total=77.56s, count=5718, min=9.2ms, max=30.3ms + save_batch_prep: mean=2.54s, total=45.68s, count=18, min=2178.6ms, max=2835.2ms + task_sampling: mean=378.0ms, total=23.81s, count=63, min=254.8ms, max=3931.7ms + task_specific_sample: mean=297.4ms, total=21.41s, count=72, min=142.5ms, max=357.9ms + scene_load: mean=3.59s, total=3.59s, count=1, min=3592.4ms, max=3592.4ms + scene_env_create: mean=2.16s, total=2.16s, count=1, min=2160.5ms, max=2160.5ms + task_sampling_failed: mean=151.6ms, total=1.36s, count=9, min=145.2ms, max=160.3ms + scene_compile: mean=879.4ms, total=879.4ms, count=1, min=879.4ms, max=879.4ms + compile_mujoco: mean=619.6ms, total=619.6ms, count=1, min=619.6ms, max=619.6ms + scene_asset_install: mean=482.6ms, total=482.6ms, count=1, min=482.6ms, max=482.6ms + asset_install_objects: mean=422.4ms, total=422.4ms, count=1, min=422.4ms, max=422.4ms + compile_xml_load: mean=206.8ms, total=206.8ms, count=1, min=206.8ms, max=206.8ms + scene_randomize: mean=1.0ms, total=72.8ms, count=72, min=0.7ms, max=2.5ms + scene_init: mean=69.6ms, total=69.6ms, count=1, min=69.6ms, max=69.6ms + asset_install_grasps: mean=56.7ms, total=56.7ms, count=1, min=56.7ms, max=56.7ms + compile_aux_objects: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms + compile_aux_policy_objects: mean=40.9ms, total=40.9ms, count=1, min=40.9ms, max=40.9ms + mj_forward_sync: mean=310.8us, total=22.4ms, count=72, min=0.3ms, max=0.3ms + compile_robot_add: mean=5.1ms, total=5.1ms, count=1, min=5.1ms, max=5.1ms + asset_install_scene: mean=3.5ms, total=3.5ms, count=1, min=3.5ms, max=3.5ms + policy_setup: mean=14.4us, total=0.9ms, count=63, min=0.0ms, max=0.0ms + scene_reuse: mean=0.0us, total=0.0ms, count=71, min=0.0ms, max=0.0ms [profiler_utils.py: 429] +05/18 14:19:24 INFO: Completed 1 houses, skipped 0 houses [pipeline.py: 1488] +05/18 14:19:24 INFO: Success count: 18, Total count: 20 [pipeline.py: 1491] +05/18 14:19:24 INFO: Success rate: 90.00% [pipeline.py: 1492] diff --git a/dresser/sim/chunk_039/trajectories_batch_1_of_1_cam_rand.h5 b/dresser/sim/chunk_039/trajectories_batch_1_of_1_cam_rand.h5 new file mode 100644 index 0000000000000000000000000000000000000000..132271cddd10f3ababdf0fe4744f6abb53a6531c --- /dev/null +++ b/dresser/sim/chunk_039/trajectories_batch_1_of_1_cam_rand.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e15224d60c776cd28ff43e5b4c1cc22b3dd1cf7f5b163a07b541224dbc239e84 +size 1260768728